diff --git "a/MP3D/habitatweb/train/kEZ7cmS4wCh.json" "b/MP3D/habitatweb/train/kEZ7cmS4wCh.json" new file mode 100644--- /dev/null +++ "b/MP3D/habitatweb/train/kEZ7cmS4wCh.json" @@ -0,0 +1,197015 @@ +[ + { + "kEZ7cmS4wCh.glb_plant": [ + { + "position": [ + -1.93214, + 0.27047, + -2.91168 + ], + "radius": null, + "object_id": 268, + "object_name": "0_15_268", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_135_newN_0", + "observable_viewpoint_ids": [ + "0_edge_135_newN_0", + "21dca84e46e74021858b7343d8200182", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "682b19fbab024b3ca81f62cd4d287ca7", + "5395b0d960da4a10a3fa76ec47a060f5", + "b86b79b6a66546e58155579ef00b1e7d" + ] + }, + { + "position": [ + 1.66896, + 0.41628, + -2.02995 + ], + "radius": null, + "object_id": 111, + "object_name": "0_6_111", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_130_newN_0", + "observable_viewpoint_ids": [ + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "0_edge_130_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_133_newN_1", + "0_edge_130_newN_0" + ] + }, + { + "position": [ + -0.24215, + 0.144, + 4.0111 + ], + "radius": null, + "object_id": 89, + "object_name": "0_5_89", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "42500d43b2454445a68e90f16aa5ca15", + "observable_viewpoint_ids": [ + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de" + ] + }, + { + "position": [ + -5.02256, + 1.02201, + 3.68365 + ], + "radius": null, + "object_id": 262, + "object_name": "0_15_262", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "ce23b2b514f449a0b334dc15146fc14f", + "observable_viewpoint_ids": [ + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1" + ] + }, + { + "position": [ + 7.37757, + 0.01723, + 6.5667 + ], + "radius": null, + "object_id": 38, + "object_name": "0_2_38", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "10_edge_229_newN_0", + "observable_viewpoint_ids": [ + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_75_newN_1", + "0_edge_341_newN_0", + "0_edge_425_newN_0" + ] + }, + { + "position": [ + 19.5089, + -0.55395, + -3.82642 + ], + "radius": null, + "object_id": 1, + "object_name": "0_0_1", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "b682278fff3c4478b2f6e2012e31fd18", + "observable_viewpoint_ids": [ + "b682278fff3c4478b2f6e2012e31fd18", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_384_newN_0", + "0_edge_88_newN_1" + ] + }, + { + "position": [ + 17.8334, + -0.67426, + 3.30585 + ], + "radius": null, + "object_id": 7, + "object_name": "0_0_7", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_86_newN_1", + "observable_viewpoint_ids": [ + "0_edge_86_newN_1", + "0a615b9369b74696b3babe84de5d7a8a", + "0_edge_122_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330" + ] + }, + { + "position": [ + -6.59411, + 4.07424, + 4.47567 + ], + "radius": null, + "object_id": 363, + "object_name": "1_20_363", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "observable_viewpoint_ids": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "eb2eb655963a4be08e11d984c87586bd" + ] + }, + { + "position": [ + 21.5368, + -0.36787, + -1.70432 + ], + "radius": null, + "object_id": 10, + "object_name": "0_0_10", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "a83bd24881e7417b959c51f84eb6a059", + "observable_viewpoint_ids": [ + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_385_newN_1", + "0_edge_88_newN_1", + "b682278fff3c4478b2f6e2012e31fd18", + "0_edge_384_newN_0" + ] + }, + { + "position": [ + 20.2258, + -0.7573, + 7.09388 + ], + "radius": null, + "object_id": 13, + "object_name": "0_0_13", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "observable_viewpoint_ids": [ + "0a615b9369b74696b3babe84de5d7a8a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a" + ] + }, + { + "position": [ + 21.4167, + -0.09152, + 7.4072 + ], + "radius": null, + "object_id": 9, + "object_name": "0_0_9", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "observable_viewpoint_ids": [ + "0a615b9369b74696b3babe84de5d7a8a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a" + ] + }, + { + "position": [ + 2.68652, + 4.52585, + 6.62671 + ], + "radius": null, + "object_id": 332, + "object_name": "1_18_332", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "16897e2c8dbd48c3a44997dad1c3801f", + "observable_viewpoint_ids": [ + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "position": [ + 2.94049, + 4.43294, + 6.45263 + ], + "radius": null, + "object_id": 341, + "object_name": "1_18_341", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "16897e2c8dbd48c3a44997dad1c3801f", + "observable_viewpoint_ids": [ + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "position": [ + 4.53706, + 4.71563, + -8.02363 + ], + "radius": null, + "object_id": 382, + "object_name": "1_22_382", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "11df14e4d06c4d098f75eed3b847e3e3", + "observable_viewpoint_ids": [ + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "position": [ + 1.26302, + 3.96522, + -4.25993 + ], + "radius": null, + "object_id": 397, + "object_name": "1_22_397", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "f71c7ed84bc34651a65dd51ba28cab4b", + "observable_viewpoint_ids": [ + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "position": [ + -24.4904, + 5.69909, + 3.7492 + ], + "radius": null, + "object_id": 357, + "object_name": "1_20_357", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "observable_viewpoint_ids": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81" + ] + }, + { + "position": [ + 6.38119, + 7.29691, + 1.01883 + ], + "radius": null, + "object_id": 482, + "object_name": "2_26_482", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "5e7ad15a2bbd4a55a95560ee0121c222", + "observable_viewpoint_ids": [ + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_207_newN_1", + "5e7ad15a2bbd4a55a95560ee0121c222" + ] + }, + { + "position": [ + 0.12091, + 7.66957, + 5.4357 + ], + "radius": null, + "object_id": 512, + "object_name": "2_27_512", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "c66a3e6ef48143f5a86d202e62515386", + "observable_viewpoint_ids": [ + "8a114fb97390409e9f438a77f8fe913f", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901" + ] + }, + { + "position": [ + -0.74342, + 7.91132, + 9.18757 + ], + "radius": null, + "object_id": 534, + "object_name": "2_28_534", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "observable_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "position": [ + 0.72746, + 7.96505, + -5.83275 + ], + "radius": null, + "object_id": 588, + "object_name": "2_31_588", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "9b0ea58d8244411592f46e0c560d8595", + "observable_viewpoint_ids": [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "position": [ + -1.58876, + 7.81512, + -1.99263 + ], + "radius": null, + "object_id": 612, + "object_name": "2_32_612", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0a7c88b186e6416dad35dadc4154ce93", + "observable_viewpoint_ids": [ + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "72f2dbee67884e7d9bd70158fe8e66c9" + ] + }, + { + "position": [ + 3.04566, + 7.15403, + -5.01101 + ], + "radius": null, + "object_id": 623, + "object_name": "2_33_623", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_364_newN_0", + "observable_viewpoint_ids": [ + "c6957ec905d04ac8acab161452470981", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "998e746d154e4635904dbf9201ad133c", + "0_edge_364_newN_0", + "57180afbe3c341b18a9483752afb6f9a" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_441_newN_1", + "0_edge_133_newN_0", + "0_edge_359_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "f48b2bf8bcc64c3ca36d4190669f333a", + "0a615b9369b74696b3babe84de5d7a8a", + "5a17727c63bb4c64bd10875f8d652009", + "21dca84e46e74021858b7343d8200182", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "73a961a9e612400b9f30493cb9375f81", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_130_newN_0", + "0_edge_385_newN_1", + "16897e2c8dbd48c3a44997dad1c3801f", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0_edge_88_newN_1", + "0_edge_130_newN_1", + "60ddff235ac44416b783febc3fa613b6", + "11df14e4d06c4d098f75eed3b847e3e3", + "0_edge_365_newN_0", + "0_edge_122_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "5e7ad15a2bbd4a55a95560ee0121c222", + "9977d41540f44813becd1f319db571ef", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "b47347c7d04e40d084f4f3715e166330", + "5395b0d960da4a10a3fa76ec47a060f5", + "b682278fff3c4478b2f6e2012e31fd18", + "f96eb45fe2fa4c38a7173a02cab9050a", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_341_newN_0", + "0_edge_425_newN_0", + "9b0ea58d8244411592f46e0c560d8595", + "57180afbe3c341b18a9483752afb6f9a", + "36851a5222e54eb288084a0f3e55340e", + "0_edge_192_newN_0", + "0a7c88b186e6416dad35dadc4154ce93", + "0_edge_207_newN_1", + "c6957ec905d04ac8acab161452470981", + "0_edge_450_newN_1", + "e908015113524e25a0fe06c0f88d6bb2", + "ee4d521f9b174894b7b595e1b56ee901", + "42500d43b2454445a68e90f16aa5ca15", + "1bd459f9e678429b95ffbda52efa657b", + "682b19fbab024b3ca81f62cd4d287ca7", + "eb2eb655963a4be08e11d984c87586bd", + "998e746d154e4635904dbf9201ad133c", + "10e1ff604f364dedaa146d4f387399be", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_75_newN_1", + "0_edge_364_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_278_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_135_newN_0", + "0_edge_86_newN_1", + "10_edge_229_newN_0", + "428bc90067994001952048f25dc4e57d", + "c66a3e6ef48143f5a86d202e62515386", + "9f02cc693511409ea77d000606f10f1d", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_384_newN_0", + "0_edge_415_newN_0" + ] + } + ], + "kEZ7cmS4wCh.glb_cushion": [ + { + "position": [ + 4.09861, + 3.87449, + 7.10151 + ], + "radius": null, + "object_id": 322, + "object_name": "1_17_322", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "16897e2c8dbd48c3a44997dad1c3801f", + "observable_viewpoint_ids": [ + "5eb29212d43d436ca60e05d19215a0de", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "position": [ + 3.62039, + 3.87054, + -9.37455 + ], + "radius": null, + "object_id": 404, + "object_name": "1_22_404", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "428bc90067994001952048f25dc4e57d", + "observable_viewpoint_ids": [ + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "position": [ + 2.43438, + 0.24166, + 1.1924 + ], + "radius": null, + "object_id": 84, + "object_name": "0_5_84", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_249_newN_0", + "observable_viewpoint_ids": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_249_newN_0", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_46_newN_0" + ] + }, + { + "position": [ + 3.91931, + 3.86238, + -10.5104 + ], + "radius": null, + "object_id": 401, + "object_name": "1_22_401", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "428bc90067994001952048f25dc4e57d", + "observable_viewpoint_ids": [ + "0_edge_15_newN_2", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "position": [ + 1.58502, + 0.23774, + 3.79552 + ], + "radius": null, + "object_id": 87, + "object_name": "0_5_87", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "42500d43b2454445a68e90f16aa5ca15", + "observable_viewpoint_ids": [ + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_46_newN_1", + "0_edge_46_newN_0", + "0_edge_415_newN_0" + ] + }, + { + "position": [ + 2.09832, + 4.07939, + -4.87782 + ], + "radius": null, + "object_id": 394, + "object_name": "1_22_394", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "f71c7ed84bc34651a65dd51ba28cab4b", + "observable_viewpoint_ids": [ + "11df14e4d06c4d098f75eed3b847e3e3", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "position": [ + 2.09251, + 3.94069, + -4.51698 + ], + "radius": null, + "object_id": 391, + "object_name": "1_22_391", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "f71c7ed84bc34651a65dd51ba28cab4b", + "observable_viewpoint_ids": [ + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "position": [ + -3.2207, + 0.67674, + 7.52199 + ], + "radius": null, + "object_id": 277, + "object_name": "0_16_277", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "ce23b2b514f449a0b334dc15146fc14f", + "observable_viewpoint_ids": [ + "0_edge_441_newN_1" + ] + }, + { + "position": [ + 5.22989, + 0.15873, + 6.82953 + ], + "radius": null, + "object_id": 35, + "object_name": "0_2_35", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "60434c00433b4438912eebe9bd2c6984", + "observable_viewpoint_ids": [ + "0_edge_278_newN_0", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "10_edge_229_newN_0", + "241fde907a674d6ca8916fd2beec6dfc", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984" + ] + }, + { + "position": [ + 5.33278, + 0.14511, + 6.53936 + ], + "radius": null, + "object_id": 31, + "object_name": "0_2_31", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "60434c00433b4438912eebe9bd2c6984", + "observable_viewpoint_ids": [ + "0_edge_278_newN_0", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "10_edge_229_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984" + ] + }, + { + "position": [ + 5.51339, + 0.15933, + 6.24165 + ], + "radius": null, + "object_id": 40, + "object_name": "0_2_40", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_278_newN_0", + "observable_viewpoint_ids": [ + "0_edge_278_newN_0", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "10_edge_229_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984" + ] + }, + { + "position": [ + 7.84608, + 0.11204, + 5.18226 + ], + "radius": null, + "object_id": 45, + "object_name": "0_2_45", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_341_newN_0", + "observable_viewpoint_ids": [ + "09e4e508dfb542bb86651bf77d36a64e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_1", + "0_edge_341_newN_0", + "0_edge_425_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ] + }, + { + "position": [ + -10.1843, + -0.0067, + -7.38442 + ], + "radius": null, + "object_id": 194, + "object_name": "0_11_194", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "af61ae476e8c4c6e9ee79090fd72f1c9", + "observable_viewpoint_ids": [ + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "position": [ + 6.7201, + 0.11019, + 8.26481 + ], + "radius": null, + "object_id": 34, + "object_name": "0_2_34", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_75_newN_1", + "observable_viewpoint_ids": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "10_edge_229_newN_0", + "9c87bfbb759549478b4159a471d78826", + "67bfc67489fc45be8e7dcb8b637c566d", + "0_edge_75_newN_1" + ] + }, + { + "position": [ + 6.83244, + 0.09098, + 8.44581 + ], + "radius": null, + "object_id": 42, + "object_name": "0_2_42", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "9c87bfbb759549478b4159a471d78826", + "observable_viewpoint_ids": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "10_edge_229_newN_0", + "9c87bfbb759549478b4159a471d78826", + "67bfc67489fc45be8e7dcb8b637c566d", + "0_edge_75_newN_1" + ] + }, + { + "position": [ + 8.89443, + 0.12874, + 7.15703 + ], + "radius": null, + "object_id": 39, + "object_name": "0_2_39", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "60ddff235ac44416b783febc3fa613b6", + "observable_viewpoint_ids": [ + "60ddff235ac44416b783febc3fa613b6", + "9c87bfbb759549478b4159a471d78826", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_75_newN_1", + "0_edge_425_newN_0" + ] + }, + { + "position": [ + -1.21478, + 0.11754, + -12.9986 + ], + "radius": null, + "object_id": 157, + "object_name": "0_8_157", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "503e9158558647fea49c1e6cfd0d5bc4", + "observable_viewpoint_ids": [ + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "87298f50ef9140d891e1a06b4f1fab8a" + ] + }, + { + "position": [ + 19.8604, + -0.76302, + 2.20312 + ], + "radius": null, + "object_id": 3, + "object_name": "0_0_3", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_359_newN_1", + "observable_viewpoint_ids": [ + "0_edge_359_newN_1", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_86_newN_0" + ] + }, + { + "position": [ + 20.2173, + -0.76298, + 3.41636 + ], + "radius": null, + "object_id": 18, + "object_name": "0_0_18", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_359_newN_1", + "observable_viewpoint_ids": [ + "0_edge_359_newN_1", + "0a615b9369b74696b3babe84de5d7a8a", + "0_edge_359_newN_0", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ] + }, + { + "position": [ + 21.3753, + -0.67195, + 2.09879 + ], + "radius": null, + "object_id": 5, + "object_name": "0_0_5", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_359_newN_1", + "observable_viewpoint_ids": [ + "0_edge_359_newN_1", + "800af5c5995545ca9b1923533c5cf316", + "0_edge_359_newN_0", + "0_edge_88_newN_0", + "0_edge_359_newN_2", + "0_edge_385_newN_1", + "0_edge_9_newN_0", + "0_edge_86_newN_0" + ] + }, + { + "position": [ + 21.6834, + -0.79504, + 0.90588 + ], + "radius": null, + "object_id": 19, + "object_name": "0_0_19", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_385_newN_1", + "observable_viewpoint_ids": [ + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_88_newN_0", + "0_edge_359_newN_2", + "0_edge_385_newN_1", + "0_edge_88_newN_1", + "0_edge_86_newN_0" + ] + }, + { + "position": [ + 22.0104, + -0.77387, + 1.2697 + ], + "radius": null, + "object_id": 17, + "object_name": "0_0_17", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_88_newN_0", + "observable_viewpoint_ids": [ + "800af5c5995545ca9b1923533c5cf316", + "0_edge_88_newN_0", + "0_edge_359_newN_2", + "0_edge_385_newN_1", + "0_edge_86_newN_0" + ] + }, + { + "position": [ + 22.429, + -0.73171, + 0.3549 + ], + "radius": null, + "object_id": 14, + "object_name": "0_0_14", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_88_newN_0", + "observable_viewpoint_ids": [ + "800af5c5995545ca9b1923533c5cf316", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "0_edge_88_newN_1" + ] + }, + { + "position": [ + 21.5954, + -0.69967, + 3.37261 + ], + "radius": null, + "object_id": 15, + "object_name": "0_0_15", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_359_newN_0", + "observable_viewpoint_ids": [ + "0_edge_359_newN_1", + "800af5c5995545ca9b1923533c5cf316", + "0_edge_444_newN_1", + "0_edge_359_newN_0", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_9_newN_0" + ] + }, + { + "position": [ + 22.4055, + -0.69916, + 3.22753 + ], + "radius": null, + "object_id": 11, + "object_name": "0_0_11", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_9_newN_0", + "observable_viewpoint_ids": [ + "0_edge_359_newN_1", + "0_edge_444_newN_1", + "800af5c5995545ca9b1923533c5cf316", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_9_newN_0" + ] + }, + { + "position": [ + 4.69221, + 3.87483, + 8.00535 + ], + "radius": null, + "object_id": 317, + "object_name": "1_17_317", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "81c89eb6368341109260f88eb14a527e", + "observable_viewpoint_ids": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "position": [ + 2.92289, + 4.10394, + -4.95675 + ], + "radius": null, + "object_id": 396, + "object_name": "1_22_396", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "f71c7ed84bc34651a65dd51ba28cab4b", + "observable_viewpoint_ids": [ + "11df14e4d06c4d098f75eed3b847e3e3", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "position": [ + 4.07463, + 3.90148, + -11.2766 + ], + "radius": null, + "object_id": 400, + "object_name": "1_22_400", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "428bc90067994001952048f25dc4e57d", + "observable_viewpoint_ids": [ + "0_edge_15_newN_2", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "position": [ + 3.8975, + 3.91469, + -11.7054 + ], + "radius": null, + "object_id": 403, + "object_name": "1_22_403", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "428bc90067994001952048f25dc4e57d", + "observable_viewpoint_ids": [ + "0_edge_15_newN_2", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "position": [ + 1.44593, + 7.33989, + 0.20052 + ], + "radius": null, + "object_id": 488, + "object_name": "2_26_488", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "890c5356b4da4a418e223fc9e366bf89", + "observable_viewpoint_ids": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "0_edge_282_newN_1", + "890c5356b4da4a418e223fc9e366bf89" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_359_newN_1", + "800af5c5995545ca9b1923533c5cf316", + "0_edge_441_newN_1", + "0_edge_359_newN_0", + "503e9158558647fea49c1e6cfd0d5bc4", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_25_newN_1", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_15_newN_2", + "100294ee82214ab39ad802149f4f1909", + "0_edge_385_newN_1", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_290_newN_0", + "0_edge_46_newN_1", + "f71c7ed84bc34651a65dd51ba28cab4b", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_88_newN_1", + "0_edge_282_newN_1", + "0_edge_9_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "890c5356b4da4a418e223fc9e366bf89", + "11df14e4d06c4d098f75eed3b847e3e3", + "60ddff235ac44416b783febc3fa613b6", + "bc28e77e30a94f76aee87ac07949ecc4", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "9c87bfbb759549478b4159a471d78826", + "4486a4f9a25742c98cdd93b72fb3220e", + "5eb29212d43d436ca60e05d19215a0de", + "4ed0dc66de83415196cb59d120b71d55", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_341_newN_0", + "0_edge_425_newN_0", + "0_edge_86_newN_0", + "0_edge_444_newN_1", + "72c76f63e9124253b87ef7fe0b85ef85", + "09e4e508dfb542bb86651bf77d36a64e", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "0_edge_450_newN_1", + "241fde907a674d6ca8916fd2beec6dfc", + "4e3ca18a1d6848529e1e97e841b3faa9", + "60434c00433b4438912eebe9bd2c6984", + "42500d43b2454445a68e90f16aa5ca15", + "67bfc67489fc45be8e7dcb8b637c566d", + "0_edge_75_newN_1", + "0_edge_46_newN_0", + "0_edge_88_newN_2", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "0_edge_278_newN_0", + "0_edge_86_newN_1", + "0_edge_76_newN_0", + "428bc90067994001952048f25dc4e57d", + "10_edge_229_newN_0", + "0_edge_249_newN_0", + "0_edge_88_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "08a9899f92e54a88b14ded82908ad7fa", + "b54868e8037048d08f1208b26e887005", + "d8401d8f05d84422a3543e9a1e612d11", + "c709e0508ab94b139f42d19e7f0dcb53", + "0674ebc36a2048828d0ce0dc80751886", + "0_edge_282_newN_0", + "0_edge_359_newN_2", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_425_newN_1", + "0_edge_415_newN_0" + ] + } + ], + "kEZ7cmS4wCh.glb_sofa": [ + { + "position": [ + 4.91938, + 7.1442, + -2.93758 + ], + "radius": null, + "object_id": 487, + "object_name": "2_26_487", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_363_newN_0", + "observable_viewpoint_ids": [ + "152355d224574b17b3be41aa6edf2b41", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_283_newN_1", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_363_newN_0", + "0_edge_280_newN_0", + "0_edge_364_newN_0" + ] + }, + { + "position": [ + 19.4923, + -0.67648, + -1.40578 + ], + "radius": null, + "object_id": 8, + "object_name": "0_0_8", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_384_newN_0", + "observable_viewpoint_ids": [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_88_newN_1", + "b682278fff3c4478b2f6e2012e31fd18", + "0_edge_384_newN_0" + ] + }, + { + "position": [ + 2.56848, + -0.04198, + 2.41134 + ], + "radius": null, + "object_id": 80, + "object_name": "0_5_80", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_46_newN_0", + "observable_viewpoint_ids": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "0_edge_249_newN_0", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "0_edge_289_newN_0", + "0_edge_46_newN_0", + "0_edge_290_newN_1", + "0_edge_415_newN_0" + ] + }, + { + "position": [ + 0.32552, + -0.08604, + -10.3927 + ], + "radius": null, + "object_id": 154, + "object_name": "0_8_154", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_25_newN_0", + "observable_viewpoint_ids": [ + "0_edge_83_newN_0", + "0_edge_79_newN_0", + "0_edge_59_newN_1", + "0_edge_25_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_1", + "f5d15314913f4453aca1219437398794" + ] + }, + { + "position": [ + 3.42814, + 3.71577, + -10.6175 + ], + "radius": null, + "object_id": 386, + "object_name": "1_22_386", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "428bc90067994001952048f25dc4e57d", + "observable_viewpoint_ids": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_79_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_88_newN_1", + "0_edge_83_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "11df14e4d06c4d098f75eed3b847e3e3", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_363_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "b682278fff3c4478b2f6e2012e31fd18", + "0_edge_280_newN_0", + "152355d224574b17b3be41aa6edf2b41", + "72c76f63e9124253b87ef7fe0b85ef85", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_450_newN_1", + "0_edge_59_newN_1", + "4e3ca18a1d6848529e1e97e841b3faa9", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_83_newN_1", + "0_edge_364_newN_0", + "c2f4ac1cd281454d80acbc4d79c12aef", + "0_edge_46_newN_0", + "0_edge_290_newN_1", + "0_edge_76_newN_0", + "428bc90067994001952048f25dc4e57d", + "0_edge_122_newN_0", + "0_edge_249_newN_0", + "0_edge_283_newN_1", + "0_edge_25_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_359_newN_2", + "0_edge_289_newN_0", + "0_edge_384_newN_0", + "0_edge_415_newN_0", + "f5d15314913f4453aca1219437398794" + ] + } + ], + "kEZ7cmS4wCh.glb_picture": [ + { + "position": [ + -0.55955, + 4.17281, + 4.78348 + ], + "radius": null, + "object_id": 351, + "object_name": "1_19_351", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "5f04c594ab574a4b9f4535abdfab07e0", + "observable_viewpoint_ids": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "c66e1c0bbb6a4418bd97da9967ec435d" + ] + }, + { + "position": [ + -5.73374, + 1.3841, + -0.89795 + ], + "radius": null, + "object_id": 240, + "object_name": "0_13_240", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "f97419bd62f6462fbbf8fb8adc4dea29", + "observable_viewpoint_ids": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6" + ] + }, + { + "position": [ + 0.55705, + 4.48687, + -5.23897 + ], + "radius": null, + "object_id": 424, + "object_name": "1_23_424", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "f71c7ed84bc34651a65dd51ba28cab4b", + "observable_viewpoint_ids": [ + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "position": [ + 0.34659, + 1.29445, + 5.81577 + ], + "radius": null, + "object_id": 90, + "object_name": "0_5_90", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "e5fc4a655a7a451eaec61f1dcaf902de", + "observable_viewpoint_ids": [ + "3ae10635160248a58e2197541e621ddb", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de" + ] + }, + { + "position": [ + 8.84863, + 1.22379, + 5.94044 + ], + "radius": null, + "object_id": 22, + "object_name": "0_2_22", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_425_newN_0", + "observable_viewpoint_ids": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_278_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "10_edge_229_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "d8401d8f05d84422a3543e9a1e612d11", + "9c87bfbb759549478b4159a471d78826", + "4486a4f9a25742c98cdd93b72fb3220e", + "454f883454684daf86530a34b6d007f4", + "9dbeee64e93347bea1a127a7cb3eea03", + "0_edge_75_newN_1", + "0_edge_438_newN_0", + "0_edge_425_newN_1", + "0_edge_341_newN_0", + "0_edge_425_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ] + }, + { + "position": [ + -8.048, + 1.03922, + -5.86348 + ], + "radius": null, + "object_id": 200, + "object_name": "0_11_200", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_262_newN_1", + "observable_viewpoint_ids": [ + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "position": [ + 4.04268, + 4.99985, + 7.7338 + ], + "radius": null, + "object_id": 307, + "object_name": "1_17_307", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "62ceda9ff3dd4e0f9b63f3b70691d705", + "observable_viewpoint_ids": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "position": [ + 2.62779, + 4.96728, + -4.29401 + ], + "radius": null, + "object_id": 388, + "object_name": "1_22_388", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_365_newN_2", + "observable_viewpoint_ids": [ + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "position": [ + -1.64557, + 7.98271, + 1.06115 + ], + "radius": null, + "object_id": 554, + "object_name": "2_29_554", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "b02ebc952fcf4ff0942c56b2b3251b44", + "observable_viewpoint_ids": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ] + }, + { + "position": [ + -1.98191, + 8.02233, + -0.50994 + ], + "radius": null, + "object_id": 558, + "object_name": "2_29_558", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_126_newN_1", + "observable_viewpoint_ids": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_126_newN_1", + "0_edge_146_newN_0" + ] + }, + { + "position": [ + -2.20717, + 7.89016, + -2.16373 + ], + "radius": null, + "object_id": 561, + "object_name": "2_29_561", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "72f2dbee67884e7d9bd70158fe8e66c9", + "observable_viewpoint_ids": [ + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9" + ] + }, + { + "position": [ + 1.77374, + 8.16463, + -4.58207 + ], + "radius": null, + "object_id": 593, + "object_name": "2_31_593", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "4ed0dc66de83415196cb59d120b71d55", + "observable_viewpoint_ids": [ + "4ed0dc66de83415196cb59d120b71d55", + "998e746d154e4635904dbf9201ad133c", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "all_observation_viewpoint_ids": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "23529d8037d541ccbcccc986d779f269", + "e5fc4a655a7a451eaec61f1dcaf902de", + "9dbeee64e93347bea1a127a7cb3eea03", + "4edc8197749e4379b34c663f9e370a80", + "f71c7ed84bc34651a65dd51ba28cab4b", + "bc497ec23cba4e7b9630cf20f5a73b03", + "60ddff235ac44416b783febc3fa613b6", + "11df14e4d06c4d098f75eed3b847e3e3", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "9c87bfbb759549478b4159a471d78826", + "4486a4f9a25742c98cdd93b72fb3220e", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3b67353ba5e64feeb33884037fa14ce6", + "9b0ea58d8244411592f46e0c560d8595", + "4ed0dc66de83415196cb59d120b71d55", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_341_newN_0", + "0_edge_425_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "42500d43b2454445a68e90f16aa5ca15", + "998e746d154e4635904dbf9201ad133c", + "0_edge_75_newN_1", + "3ae10635160248a58e2197541e621ddb", + "0_edge_438_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "0_edge_278_newN_0", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "72f2dbee67884e7d9bd70158fe8e66c9", + "10_edge_229_newN_0", + "08a9899f92e54a88b14ded82908ad7fa", + "0_edge_126_newN_1", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_146_newN_0", + "0674ebc36a2048828d0ce0dc80751886", + "454f883454684daf86530a34b6d007f4", + "0_edge_262_newN_1", + "0_edge_425_newN_1" + ] + } + ], + "kEZ7cmS4wCh.glb_counter": [ + { + "position": [ + -1.44395, + 7.2332, + -1.17241 + ], + "radius": null, + "object_id": 605, + "object_name": "2_32_605", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "0a7c88b186e6416dad35dadc4154ce93", + "observable_viewpoint_ids": [ + "0a7c88b186e6416dad35dadc4154ce93", + "72f2dbee67884e7d9bd70158fe8e66c9", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "b02ebc952fcf4ff0942c56b2b3251b44", + "890c5356b4da4a418e223fc9e366bf89" + ] + }, + { + "position": [ + 3.26903, + 0.10091, + 9.16348 + ], + "radius": null, + "object_id": 24, + "object_name": "0_2_24", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "observable_viewpoint_ids": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ] + }, + { + "position": [ + 1.88385, + 0.31585, + -16.9524 + ], + "radius": null, + "object_id": 52, + "object_name": "0_3_52", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "7e8326b2742643919d565d01ff4cb501", + "observable_viewpoint_ids": [ + "2541575c89e8441da0419900ff2388dd", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "7c2ba622b1ae4a68a8dc97c69030da06", + "7e8326b2742643919d565d01ff4cb501" + ] + }, + { + "position": [ + -0.62026, + 4.25798, + -9.33775 + ], + "radius": null, + "object_id": 456, + "object_name": "1_25_456", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "3c4a8eb4ef504942b6df1937932aa3f2", + "observable_viewpoint_ids": [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "all_observation_viewpoint_ids": [ + "2541575c89e8441da0419900ff2388dd", + "3c4a8eb4ef504942b6df1937932aa3f2", + "ef22fd41921142d4a36d6354d2e10d23", + "854eec676352475f90d1fb18677f9a8b", + "890c5356b4da4a418e223fc9e366bf89", + "9977d41540f44813becd1f319db571ef", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "b02ebc952fcf4ff0942c56b2b3251b44", + "7e8326b2742643919d565d01ff4cb501", + "0a7c88b186e6416dad35dadc4154ce93", + "0_edge_112_newN_0", + "dbef8aac0198493597e8e5aec0de17cb", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "4e3ca18a1d6848529e1e97e841b3faa9", + "6b3e8eaf98a14207b9ec30d4105938ce", + "72f2dbee67884e7d9bd70158fe8e66c9", + "428bc90067994001952048f25dc4e57d", + "32e645590a554d8694a69851854a1c10", + "7c2ba622b1ae4a68a8dc97c69030da06" + ] + } + ], + "kEZ7cmS4wCh.glb_chair": [ + { + "position": [ + 7.78595, + 3.70491, + 6.2625 + ], + "radius": null, + "object_id": 318, + "object_name": "1_17_318", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "observable_viewpoint_ids": [ + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "position": [ + 0.64635, + 0.12911, + -2.46041 + ], + "radius": null, + "object_id": 101, + "object_name": "0_6_101", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_130_newN_1", + "observable_viewpoint_ids": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "0_edge_130_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "position": [ + 0.84073, + 0.12661, + -1.44389 + ], + "radius": null, + "object_id": 110, + "object_name": "0_6_110", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_133_newN_1", + "observable_viewpoint_ids": [ + "0_edge_130_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "0_edge_130_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24" + ] + }, + { + "position": [ + 1.41404, + 0.137, + -2.67657 + ], + "radius": null, + "object_id": 113, + "object_name": "0_6_113", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_130_newN_0", + "observable_viewpoint_ids": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ] + }, + { + "position": [ + 1.58014, + 0.1289, + -1.5225 + ], + "radius": null, + "object_id": 108, + "object_name": "0_6_108", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_133_newN_1", + "observable_viewpoint_ids": [ + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "0_edge_130_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_133_newN_1", + "0_edge_130_newN_0" + ] + }, + { + "position": [ + 2.20594, + 0.12415, + -1.54264 + ], + "radius": null, + "object_id": 103, + "object_name": "0_6_103", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_192_newN_0", + "observable_viewpoint_ids": [ + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "0_edge_130_newN_1", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_133_newN_1", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ] + }, + { + "position": [ + 2.22602, + 0.12588, + -2.57661 + ], + "radius": null, + "object_id": 105, + "object_name": "0_6_105", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_130_newN_0", + "observable_viewpoint_ids": [ + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "0_edge_130_newN_1", + "0_edge_133_newN_1", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8" + ] + }, + { + "position": [ + -3.52664, + 0.48226, + 6.78838 + ], + "radius": null, + "object_id": 284, + "object_name": "0_16_284", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ce23b2b514f449a0b334dc15146fc14f", + "observable_viewpoint_ids": [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "ce23b2b514f449a0b334dc15146fc14f", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7" + ] + }, + { + "position": [ + 4.32128, + 3.76779, + -6.4155 + ], + "radius": null, + "object_id": 412, + "object_name": "1_22_412", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "11df14e4d06c4d098f75eed3b847e3e3", + "observable_viewpoint_ids": [ + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "position": [ + -5.61818, + 0.78002, + 7.61739 + ], + "radius": null, + "object_id": 273, + "object_name": "0_16_273", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "observable_viewpoint_ids": [ + "50ffb35ba8654fd1a6a3cbdd4e5a29b7" + ] + }, + { + "position": [ + 4.52143, + 0.06623, + 2.84991 + ], + "radius": null, + "object_id": 83, + "object_name": "0_5_83", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "72c76f63e9124253b87ef7fe0b85ef85", + "observable_viewpoint_ids": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_0", + "0_edge_46_newN_0", + "0_edge_290_newN_1" + ] + }, + { + "position": [ + -6.09765, + 0.08545, + -7.77143 + ], + "radius": null, + "object_id": 192, + "object_name": "0_11_192", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_325_newN_0", + "observable_viewpoint_ids": [ + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "3ca0a0e34b9046d58a1c3fe2543576e0" + ] + }, + { + "position": [ + 3.29367, + 0.15022, + -9.57597 + ], + "radius": null, + "object_id": 153, + "object_name": "0_8_153", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_17_newN_0", + "observable_viewpoint_ids": [ + "0_edge_15_newN_1", + "0_edge_15_newN_3", + "0_edge_79_newN_0", + "0_edge_59_newN_1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f5d15314913f4453aca1219437398794" + ] + }, + { + "position": [ + 3.06072, + 0.09535, + -10.5334 + ], + "radius": null, + "object_id": 142, + "object_name": "0_8_142", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_59_newN_1", + "observable_viewpoint_ids": [ + "0_edge_15_newN_1", + "0_edge_79_newN_0", + "0_edge_59_newN_1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_15_newN_2", + "0_edge_17_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ] + }, + { + "position": [ + 4.20667, + 0.15961, + -9.82439 + ], + "radius": null, + "object_id": 159, + "object_name": "0_8_159", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_15_newN_3", + "observable_viewpoint_ids": [ + "0_edge_15_newN_1", + "0_edge_15_newN_3", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_1", + "0_edge_15_newN_2", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ] + }, + { + "position": [ + 4.11332, + 0.1734, + -10.7267 + ], + "radius": null, + "object_id": 162, + "object_name": "0_8_162", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_15_newN_3", + "observable_viewpoint_ids": [ + "0_edge_15_newN_1", + "0_edge_15_newN_3", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_1", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "10_edge_64_newN_0", + "0_edge_15_newN_2" + ] + }, + { + "position": [ + 7.46932, + -0.02718, + 5.22559 + ], + "radius": null, + "object_id": 32, + "object_name": "0_2_32", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_341_newN_0", + "observable_viewpoint_ids": [ + "0_edge_278_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "10_edge_229_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_425_newN_1", + "0_edge_341_newN_0", + "0_edge_425_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ] + }, + { + "position": [ + 5.55196, + -0.04258, + 6.64204 + ], + "radius": null, + "object_id": 28, + "object_name": "0_2_28", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_278_newN_0", + "observable_viewpoint_ids": [ + "0_edge_278_newN_0", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "10_edge_229_newN_0", + "241fde907a674d6ca8916fd2beec6dfc", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "0_edge_75_newN_1" + ] + }, + { + "position": [ + 6.94993, + 0.08599, + 8.26763 + ], + "radius": null, + "object_id": 37, + "object_name": "0_2_37", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_75_newN_1", + "observable_viewpoint_ids": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "10_edge_229_newN_0", + "9c87bfbb759549478b4159a471d78826", + "67bfc67489fc45be8e7dcb8b637c566d", + "0_edge_75_newN_1" + ] + }, + { + "position": [ + 8.87069, + 0.12112, + 7.21751 + ], + "radius": null, + "object_id": 30, + "object_name": "0_2_30", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "60ddff235ac44416b783febc3fa613b6", + "observable_viewpoint_ids": [ + "60ddff235ac44416b783febc3fa613b6", + "9c87bfbb759549478b4159a471d78826", + "4486a4f9a25742c98cdd93b72fb3220e", + "9dbeee64e93347bea1a127a7cb3eea03", + "0_edge_75_newN_1", + "0_edge_341_newN_0", + "0_edge_425_newN_0" + ] + }, + { + "position": [ + 6.00497, + -0.05911, + -14.2704 + ], + "radius": null, + "object_id": 65, + "object_name": "0_3_65", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_70_newN_0", + "observable_viewpoint_ids": [ + "0_edge_112_newN_0", + "0_edge_68_newN_1", + "0_edge_70_newN_0", + "32e645590a554d8694a69851854a1c10", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59" + ] + }, + { + "position": [ + 5.65797, + -0.0457, + -14.9795 + ], + "radius": null, + "object_id": 69, + "object_name": "0_3_69", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_112_newN_0", + "observable_viewpoint_ids": [ + "0_edge_112_newN_0", + "0_edge_70_newN_0", + "32e645590a554d8694a69851854a1c10", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "4a9d28ec80c94f1cadedb3e17667cd29", + "d359f126c7b6433c92afc8ee3f327f59" + ] + }, + { + "position": [ + 7.09804, + -0.04349, + -14.0103 + ], + "radius": null, + "object_id": 64, + "object_name": "0_3_64", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "b9dbbef4ae9a4646ba247cf476b1baeb", + "observable_viewpoint_ids": [ + "0_edge_70_newN_0", + "0_edge_68_newN_1", + "c9c13f12237a4cf49aa78007ffad5d29", + "b9dbbef4ae9a4646ba247cf476b1baeb" + ] + }, + { + "position": [ + -0.85318, + 0.1562, + -12.7161 + ], + "radius": null, + "object_id": 148, + "object_name": "0_8_148", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_25_newN_1", + "observable_viewpoint_ids": [ + "0_edge_83_newN_0", + "0_edge_367_newN_2", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "87298f50ef9140d891e1a06b4f1fab8a" + ] + }, + { + "position": [ + 6.18507, + -0.03828, + -15.7191 + ], + "radius": null, + "object_id": 66, + "object_name": "0_3_66", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "32e645590a554d8694a69851854a1c10", + "observable_viewpoint_ids": [ + "0_edge_112_newN_0", + "0_edge_380_newN_1", + "32e645590a554d8694a69851854a1c10", + "0_edge_380_newN_0", + "4a9d28ec80c94f1cadedb3e17667cd29" + ] + }, + { + "position": [ + 6.96463, + -0.02203, + -15.709 + ], + "radius": null, + "object_id": 62, + "object_name": "0_3_62", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "4a9d28ec80c94f1cadedb3e17667cd29", + "observable_viewpoint_ids": [ + "0_edge_68_newN_1", + "0_edge_380_newN_1", + "32e645590a554d8694a69851854a1c10", + "0_edge_380_newN_0", + "4a9d28ec80c94f1cadedb3e17667cd29" + ] + }, + { + "position": [ + 7.78019, + -0.00591, + -15.3287 + ], + "radius": null, + "object_id": 54, + "object_name": "0_3_54", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_380_newN_0", + "observable_viewpoint_ids": [ + "0_edge_68_newN_1", + "0_edge_380_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_380_newN_0", + "4a9d28ec80c94f1cadedb3e17667cd29", + "c9c13f12237a4cf49aa78007ffad5d29" + ] + }, + { + "position": [ + 6.19926, + 7.20619, + 2.00041 + ], + "radius": null, + "object_id": 493, + "object_name": "2_26_493", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "f2e70fe81e7241139c7483b3d09cdc2f", + "observable_viewpoint_ids": [ + "0_edge_207_newN_1", + "0_edge_365_newN_0", + "f2e70fe81e7241139c7483b3d09cdc2f", + "5e7ad15a2bbd4a55a95560ee0121c222", + "10e1ff604f364dedaa146d4f387399be" + ] + }, + { + "position": [ + 3.72271, + 7.16915, + 5.98823 + ], + "radius": null, + "object_id": 504, + "object_name": "2_27_504", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "62ceda9ff3dd4e0f9b63f3b70691d705", + "observable_viewpoint_ids": [ + "0_edge_258_newN_1", + "62ceda9ff3dd4e0f9b63f3b70691d705", + "3103ac3f8af84b21baa815a539ef2d1f", + "e34627d6e1e740b88b2fcb25d08e4029" + ] + }, + { + "position": [ + 2.25313, + 7.42642, + 7.6807 + ], + "radius": null, + "object_id": 509, + "object_name": "2_27_509", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_258_newN_1", + "observable_viewpoint_ids": [ + "0_edge_258_newN_1", + "c66a3e6ef48143f5a86d202e62515386" + ] + }, + { + "all_observation_viewpoint_ids": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "bc497ec23cba4e7b9630cf20f5a73b03", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_380_newN_0", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_341_newN_0", + "0_edge_15_newN_1", + "0_edge_59_newN_1", + "60434c00433b4438912eebe9bd2c6984", + "b59ade97c6674c23ba6c98612611bfe9", + "ce23b2b514f449a0b334dc15146fc14f", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_76_newN_0", + "0_edge_249_newN_0", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_15_newN_2", + "68f1cface63843b6b3d72072a4a11fa8", + "9dbeee64e93347bea1a127a7cb3eea03", + "e34627d6e1e740b88b2fcb25d08e4029", + "11df14e4d06c4d098f75eed3b847e3e3", + "0_edge_258_newN_1", + "0_edge_133_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "5e7ad15a2bbd4a55a95560ee0121c222", + "5395b0d960da4a10a3fa76ec47a060f5", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_75_newN_1", + "0_edge_70_newN_0", + "0_edge_25_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "d8401d8f05d84422a3543e9a1e612d11", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_441_newN_1", + "0_edge_68_newN_1", + "0_edge_79_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_130_newN_0", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "0_edge_15_newN_3", + "0_edge_365_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_325_newN_0", + "9c87bfbb759549478b4159a471d78826", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "41fa201781b6448db96e6a4d4f96041e", + "bdc130b620914d8aa178fd0e21f27c10", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_192_newN_0", + "0_edge_367_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_46_newN_0", + "0_edge_290_newN_1", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "62ceda9ff3dd4e0f9b63f3b70691d705", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "0_edge_380_newN_1", + "10_edge_229_newN_0", + "32e645590a554d8694a69851854a1c10", + "454f883454684daf86530a34b6d007f4", + "f5d15314913f4453aca1219437398794", + "0_edge_133_newN_0", + "0_edge_25_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_290_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "3103ac3f8af84b21baa815a539ef2d1f", + "0_edge_83_newN_0", + "0_edge_130_newN_1", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "10_edge_64_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_425_newN_0", + "c9c13f12237a4cf49aa78007ffad5d29", + "09e4e508dfb542bb86651bf77d36a64e", + "0_edge_112_newN_0", + "0_edge_207_newN_1", + "67bfc67489fc45be8e7dcb8b637c566d", + "0_edge_262_newN_0", + "0_edge_278_newN_0", + "c66a3e6ef48143f5a86d202e62515386", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_262_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_425_newN_1", + "d359f126c7b6433c92afc8ee3f327f59" + ] + } + ], + "kEZ7cmS4wCh.glb_table": [ + { + "position": [ + 2.88099, + 3.7651, + 6.77648 + ], + "radius": null, + "object_id": 337, + "object_name": "1_18_337", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "16897e2c8dbd48c3a44997dad1c3801f", + "observable_viewpoint_ids": [ + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de" + ] + }, + { + "position": [ + 6.80789, + 3.69785, + 4.02802 + ], + "radius": null, + "object_id": 306, + "object_name": "1_17_306", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "observable_viewpoint_ids": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "position": [ + 7.3527, + 3.5789, + 4.97252 + ], + "radius": null, + "object_id": 320, + "object_name": "0_2_320", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "observable_viewpoint_ids": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "position": [ + -4.86273, + 0.56399, + 1.80618 + ], + "radius": null, + "object_id": 257, + "object_name": "0_15_257", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "b31ae8536d72434ea33243b17fc0dee0", + "observable_viewpoint_ids": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "0_edge_441_newN_1", + "0_edge_238_newN_0", + "ce23b2b514f449a0b334dc15146fc14f", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ] + }, + { + "position": [ + 1.53861, + -0.09578, + -2.02708 + ], + "radius": null, + "object_id": 109, + "object_name": "0_6_109", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_130_newN_0", + "observable_viewpoint_ids": [ + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "0_edge_130_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "bdc130b620914d8aa178fd0e21f27c10", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "position": [ + 2.60467, + 3.58106, + -10.2769 + ], + "radius": null, + "object_id": 411, + "object_name": "0_8_411", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "428bc90067994001952048f25dc4e57d", + "observable_viewpoint_ids": [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9" + ] + }, + { + "position": [ + 1.27794, + 0.04102, + -7.25432 + ], + "radius": null, + "object_id": 121, + "object_name": "0_7_121", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "736a864f92174a1facfc05a0eb246091", + "observable_viewpoint_ids": [ + "736a864f92174a1facfc05a0eb246091", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "32f8f90c0eb247758cb6cc576df52a46", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "0_edge_53_newN_0", + "f5d15314913f4453aca1219437398794" + ] + }, + { + "position": [ + 4.54725, + 3.77221, + -6.12229 + ], + "radius": null, + "object_id": 395, + "object_name": "1_22_395", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "11df14e4d06c4d098f75eed3b847e3e3", + "observable_viewpoint_ids": [ + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "position": [ + -6.00715, + 0.15526, + -7.78747 + ], + "radius": null, + "object_id": 208, + "object_name": "0_11_208", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_325_newN_0", + "observable_viewpoint_ids": [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "0_edge_325_newN_0" + ] + }, + { + "position": [ + 3.01591, + -0.23208, + 2.93457 + ], + "radius": null, + "object_id": 98, + "object_name": "0_5_98", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_46_newN_0", + "observable_viewpoint_ids": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "0_edge_76_newN_0", + "0_edge_290_newN_1" + ] + }, + { + "position": [ + 3.43842, + 0.28983, + -9.77536 + ], + "radius": null, + "object_id": 158, + "object_name": "0_8_158", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_17_newN_0", + "observable_viewpoint_ids": [ + "0_edge_15_newN_3", + "0_edge_59_newN_1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0" + ] + }, + { + "position": [ + 3.1664, + 0.287, + -10.4617 + ], + "radius": null, + "object_id": 155, + "object_name": "0_8_155", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_59_newN_1", + "observable_viewpoint_ids": [ + "0_edge_15_newN_1", + "0_edge_59_newN_1", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ] + }, + { + "position": [ + 0.87435, + -0.10455, + -11.7701 + ], + "radius": null, + "object_id": 163, + "object_name": "0_8_163", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_25_newN_0", + "observable_viewpoint_ids": [ + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ] + }, + { + "position": [ + -8.96859, + -0.03502, + -4.53468 + ], + "radius": null, + "object_id": 214, + "object_name": "0_12_214", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "446fe55778194ebd962d419067cede1a", + "observable_viewpoint_ids": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "position": [ + 7.40693, + -0.23244, + 6.60023 + ], + "radius": null, + "object_id": 48, + "object_name": "0_2_48", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "10_edge_229_newN_0", + "observable_viewpoint_ids": [ + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_341_newN_0", + "0_edge_425_newN_0" + ] + }, + { + "position": [ + 6.54847, + 0.22827, + -14.8878 + ], + "radius": null, + "object_id": 61, + "object_name": "0_3_61", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_112_newN_0", + "observable_viewpoint_ids": [ + "0_edge_68_newN_1", + "0_edge_112_newN_0", + "0_edge_380_newN_1", + "0_edge_70_newN_0", + "32e645590a554d8694a69851854a1c10", + "41fa201781b6448db96e6a4d4f96041e", + "c9c13f12237a4cf49aa78007ffad5d29", + "0_edge_380_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "4a9d28ec80c94f1cadedb3e17667cd29", + "d359f126c7b6433c92afc8ee3f327f59" + ] + }, + { + "position": [ + 8.53568, + -0.2795, + 8.86621 + ], + "radius": null, + "object_id": 47, + "object_name": "0_2_47", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "9c87bfbb759549478b4159a471d78826", + "observable_viewpoint_ids": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "67bfc67489fc45be8e7dcb8b637c566d", + "9dbeee64e93347bea1a127a7cb3eea03", + "9c87bfbb759549478b4159a471d78826" + ] + }, + { + "position": [ + 4.31475, + 6.91883, + -2.07894 + ], + "radius": null, + "object_id": 499, + "object_name": "2_26_499", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_282_newN_0", + "observable_viewpoint_ids": [ + "152355d224574b17b3be41aa6edf2b41", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0" + ] + }, + { + "position": [ + 2.86471, + 7.11908, + 7.30053 + ], + "radius": null, + "object_id": 511, + "object_name": "2_27_511", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_258_newN_1", + "observable_viewpoint_ids": [ + "c66a3e6ef48143f5a86d202e62515386", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "62ceda9ff3dd4e0f9b63f3b70691d705", + "3103ac3f8af84b21baa815a539ef2d1f" + ] + }, + { + "position": [ + 1.86574, + 6.95044, + 10.0805 + ], + "radius": null, + "object_id": 532, + "object_name": "2_28_532", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "observable_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "position": [ + 1.24481, + 7.31041, + -5.91215 + ], + "radius": null, + "object_id": 590, + "object_name": "2_31_590", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_314_newN_0", + "observable_viewpoint_ids": [ + "c6957ec905d04ac8acab161452470981", + "0_edge_314_newN_0", + "9f02cc693511409ea77d000606f10f1d", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "0_edge_364_newN_0", + "998e746d154e4635904dbf9201ad133c", + "9b0ea58d8244411592f46e0c560d8595", + "4ed0dc66de83415196cb59d120b71d55", + "2e532d8410fd4761b8166eedc0470347", + "57180afbe3c341b18a9483752afb6f9a" + ] + }, + { + "position": [ + -1.64945, + 7.20291, + -2.5763 + ], + "radius": null, + "object_id": 611, + "object_name": "2_32_611", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "9977d41540f44813becd1f319db571ef", + "observable_viewpoint_ids": [ + "0a7c88b186e6416dad35dadc4154ce93", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "890c5356b4da4a418e223fc9e366bf89" + ] + }, + { + "all_observation_viewpoint_ids": [ + "16897e2c8dbd48c3a44997dad1c3801f", + "ef22fd41921142d4a36d6354d2e10d23", + "4a9d28ec80c94f1cadedb3e17667cd29", + "60ddff235ac44416b783febc3fa613b6", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_380_newN_0", + "9b0ea58d8244411592f46e0c560d8595", + "4ed0dc66de83415196cb59d120b71d55", + "0_edge_341_newN_0", + "0_edge_15_newN_1", + "0a7c88b186e6416dad35dadc4154ce93", + "0_edge_59_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "ce23b2b514f449a0b334dc15146fc14f", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f97419bd62f6462fbbf8fb8adc4dea29", + "0_edge_76_newN_0", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_238_newN_0", + "0_edge_314_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "9dbeee64e93347bea1a127a7cb3eea03", + "e34627d6e1e740b88b2fcb25d08e4029", + "81c89eb6368341109260f88eb14a527e", + "11df14e4d06c4d098f75eed3b847e3e3", + "0_edge_258_newN_1", + "0_edge_133_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "5395b0d960da4a10a3fa76ec47a060f5", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_280_newN_0", + "c6957ec905d04ac8acab161452470981", + "4e3ca18a1d6848529e1e97e841b3faa9", + "2e532d8410fd4761b8166eedc0470347", + "0_edge_75_newN_1", + "0_edge_364_newN_0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_70_newN_0", + "0_edge_25_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_126_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "7c2ba622b1ae4a68a8dc97c69030da06", + "976a7a79035a4583a10624453174d94e", + "0_edge_441_newN_1", + "0_edge_68_newN_1", + "0_edge_79_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_130_newN_0", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "890c5356b4da4a418e223fc9e366bf89", + "78012bd258674d048a39788bdcec28ea", + "0_edge_15_newN_3", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_325_newN_0", + "9c87bfbb759549478b4159a471d78826", + "41fa201781b6448db96e6a4d4f96041e", + "b0ed9edb0520444da200f5f5c1f92e4c", + "152355d224574b17b3be41aa6edf2b41", + "bdc130b620914d8aa178fd0e21f27c10", + "36851a5222e54eb288084a0f3e55340e", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_192_newN_0", + "0_edge_367_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_53_newN_0", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "0_edge_46_newN_0", + "0_edge_290_newN_1", + "62ceda9ff3dd4e0f9b63f3b70691d705", + "736a864f92174a1facfc05a0eb246091", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "428bc90067994001952048f25dc4e57d", + "10_edge_229_newN_0", + "0_edge_380_newN_1", + "9f02cc693511409ea77d000606f10f1d", + "32e645590a554d8694a69851854a1c10", + "0_edge_283_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "f5d15314913f4453aca1219437398794", + "0_edge_133_newN_0", + "0_edge_25_newN_1", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "3103ac3f8af84b21baa815a539ef2d1f", + "0_edge_130_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "9977d41540f44813becd1f319db571ef", + "5eb29212d43d436ca60e05d19215a0de", + "0_edge_425_newN_0", + "c9c13f12237a4cf49aa78007ffad5d29", + "57180afbe3c341b18a9483752afb6f9a", + "318bfec461484262a597cc8fedffecb7", + "0_edge_112_newN_0", + "67bfc67489fc45be8e7dcb8b637c566d", + "998e746d154e4635904dbf9201ad133c", + "0_edge_278_newN_0", + "c66a3e6ef48143f5a86d202e62515386", + "32f8f90c0eb247758cb6cc576df52a46", + "08a9899f92e54a88b14ded82908ad7fa", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_282_newN_0", + "0_edge_262_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "d359f126c7b6433c92afc8ee3f327f59" + ] + } + ], + "kEZ7cmS4wCh.glb_stool": [ + { + "position": [ + 5.47639, + 6.94368, + -2.01294 + ], + "radius": null, + "object_id": 497, + "object_name": "2_26_497", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "152355d224574b17b3be41aa6edf2b41", + "observable_viewpoint_ids": [ + "152355d224574b17b3be41aa6edf2b41", + "0_edge_283_newN_1", + "0_edge_363_newN_0" + ] + }, + { + "position": [ + 4.14276, + 0.19163, + -16.3097 + ], + "radius": null, + "object_id": 53, + "object_name": "0_3_53", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "32e645590a554d8694a69851854a1c10", + "observable_viewpoint_ids": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06" + ] + }, + { + "position": [ + 3.6895, + 0.39643, + -15.6547 + ], + "radius": null, + "object_id": 55, + "object_name": "0_3_55", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_112_newN_0", + "observable_viewpoint_ids": [ + "32e645590a554d8694a69851854a1c10", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_112_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06" + ] + }, + { + "position": [ + 4.52214, + 0.30874, + -17.0599 + ], + "radius": null, + "object_id": 57, + "object_name": "0_3_57", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "32e645590a554d8694a69851854a1c10", + "observable_viewpoint_ids": [ + "32e645590a554d8694a69851854a1c10", + "4a9d28ec80c94f1cadedb3e17667cd29" + ] + }, + { + "position": [ + 3.30287, + 0.18998, + -14.8764 + ], + "radius": null, + "object_id": 58, + "object_name": "0_3_58", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "7c2ba622b1ae4a68a8dc97c69030da06", + "observable_viewpoint_ids": [ + "2541575c89e8441da0419900ff2388dd", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_308_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59" + ] + }, + { + "position": [ + 2.10042, + 0.19474, + -7.90256 + ], + "radius": null, + "object_id": 124, + "object_name": "0_7_124", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "f5d15314913f4453aca1219437398794", + "observable_viewpoint_ids": [ + "0_edge_17_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0_edge_59_newN_2", + "f5d15314913f4453aca1219437398794" + ] + }, + { + "position": [ + -0.02663, + 0.18658, + -7.817 + ], + "radius": null, + "object_id": 129, + "object_name": "0_7_129", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "a0538fdc778f4a90ba3b0ef0f40d5caa", + "observable_viewpoint_ids": [ + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ] + }, + { + "position": [ + 0.92083, + 0.20472, + -8.1961 + ], + "radius": null, + "object_id": 130, + "object_name": "0_7_130", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "f5d15314913f4453aca1219437398794", + "observable_viewpoint_ids": [ + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "f5d15314913f4453aca1219437398794" + ] + }, + { + "position": [ + -5.0011, + 0.71227, + 2.82321 + ], + "radius": null, + "object_id": 261, + "object_name": "0_15_261", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "ce23b2b514f449a0b334dc15146fc14f", + "observable_viewpoint_ids": [ + "ce23b2b514f449a0b334dc15146fc14f", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_441_newN_1" + ] + }, + { + "position": [ + -4.2952, + 0.71672, + 2.06418 + ], + "radius": null, + "object_id": 264, + "object_name": "0_15_264", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "b31ae8536d72434ea33243b17fc0dee0", + "observable_viewpoint_ids": [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512" + ] + }, + { + "position": [ + -3.86655, + 0.72135, + 1.51013 + ], + "radius": null, + "object_id": 266, + "object_name": "0_15_266", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "b31ae8536d72434ea33243b17fc0dee0", + "observable_viewpoint_ids": [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "976a7a79035a4583a10624453174d94e" + ] + }, + { + "position": [ + -4.7126, + 0.72306, + 2.58014 + ], + "radius": null, + "object_id": 267, + "object_name": "0_15_267", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "b31ae8536d72434ea33243b17fc0dee0", + "observable_viewpoint_ids": [ + "ce23b2b514f449a0b334dc15146fc14f", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512" + ] + }, + { + "position": [ + -5.34571, + 0.53587, + 5.59086 + ], + "radius": null, + "object_id": 288, + "object_name": "0_16_288", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "observable_viewpoint_ids": [ + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7" + ] + }, + { + "position": [ + -3.11161, + 0.26055, + 5.15856 + ], + "radius": null, + "object_id": 298, + "object_name": "0_16_298", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_441_newN_1", + "observable_viewpoint_ids": [ + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512" + ] + }, + { + "position": [ + -2.62328, + 0.27529, + 6.39868 + ], + "radius": null, + "object_id": 301, + "object_name": "0_16_301", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_441_newN_1", + "observable_viewpoint_ids": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "e5fc4a655a7a451eaec61f1dcaf902de" + ] + }, + { + "position": [ + -2.1442, + 0.28103, + 7.63332 + ], + "radius": null, + "object_id": 302, + "object_name": "0_16_302", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_441_newN_1", + "observable_viewpoint_ids": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_441_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de" + ] + }, + { + "position": [ + 6.37567, + 3.83267, + 4.3633 + ], + "radius": null, + "object_id": 321, + "object_name": "1_17_321", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "observable_viewpoint_ids": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "position": [ + 6.94684, + 3.54764, + 5.98271 + ], + "radius": null, + "object_id": 326, + "object_name": "0_2_326", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "observable_viewpoint_ids": [ + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "all_observation_viewpoint_ids": [ + "2541575c89e8441da0419900ff2388dd", + "0_edge_441_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_79_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "4a9d28ec80c94f1cadedb3e17667cd29", + "78012bd258674d048a39788bdcec28ea", + "0_edge_308_newN_0", + "0_edge_363_newN_0", + "152355d224574b17b3be41aa6edf2b41", + "b31ae8536d72434ea33243b17fc0dee0", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "0_edge_112_newN_0", + "ce23b2b514f449a0b334dc15146fc14f", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "d359f126c7b6433c92afc8ee3f327f59", + "0_edge_283_newN_1", + "32e645590a554d8694a69851854a1c10", + "08a9899f92e54a88b14ded82908ad7fa", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "976a7a79035a4583a10624453174d94e", + "f5d15314913f4453aca1219437398794" + ] + } + ], + "kEZ7cmS4wCh.glb_seating": [ + { + "position": [ + 0.0174, + 0.04656, + 4.16044 + ], + "radius": null, + "object_id": 85, + "object_name": "0_5_85", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "42500d43b2454445a68e90f16aa5ca15", + "observable_viewpoint_ids": [ + "dbef8aac0198493597e8e5aec0de17cb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_450_newN_1", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "0_edge_238_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "b31ae8536d72434ea33243b17fc0dee0", + "ee34e33014c94bf79cda5892e2ec6b24", + "3ae10635160248a58e2197541e621ddb", + "0_edge_450_newN_0", + "0_edge_415_newN_0", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ] + }, + { + "position": [ + -5.50257, + 0.21763, + -3.84121 + ], + "radius": null, + "object_id": 242, + "object_name": "0_13_242", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "3b67353ba5e64feeb33884037fa14ce6", + "observable_viewpoint_ids": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "682b19fbab024b3ca81f62cd4d287ca7", + "3b67353ba5e64feeb33884037fa14ce6" + ] + }, + { + "position": [ + 3.70578, + -0.09059, + 4.88127 + ], + "radius": null, + "object_id": 86, + "object_name": "0_5_86", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_76_newN_0", + "observable_viewpoint_ids": [ + "09e4e508dfb542bb86651bf77d36a64e", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "241fde907a674d6ca8916fd2beec6dfc", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "454f883454684daf86530a34b6d007f4", + "0_edge_46_newN_1", + "3ae10635160248a58e2197541e621ddb", + "0_edge_46_newN_0", + "0_edge_290_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "3b67353ba5e64feeb33884037fa14ce6", + "b31ae8536d72434ea33243b17fc0dee0", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_450_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "dbef8aac0198493597e8e5aec0de17cb", + "0_edge_450_newN_1", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "42500d43b2454445a68e90f16aa5ca15", + "682b19fbab024b3ca81f62cd4d287ca7", + "3ae10635160248a58e2197541e621ddb", + "0_edge_46_newN_0", + "0_edge_290_newN_1", + "f97419bd62f6462fbbf8fb8adc4dea29", + "0_edge_76_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "0_edge_238_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_415_newN_0" + ] + } + ], + "kEZ7cmS4wCh.glb_cabinet": [ + { + "position": [ + 3.4092, + 3.89999, + 8.46614 + ], + "radius": null, + "object_id": 331, + "object_name": "1_18_331", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "81c89eb6368341109260f88eb14a527e", + "observable_viewpoint_ids": [ + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "position": [ + -0.51671, + 3.82438, + -9.55494 + ], + "radius": null, + "object_id": 455, + "object_name": "1_25_455", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "3c4a8eb4ef504942b6df1937932aa3f2", + "observable_viewpoint_ids": [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "70be058041854ca4bcfae120bfb3fba0", + "854eec676352475f90d1fb18677f9a8b", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "position": [ + -0.91251, + 4.61651, + -12.365 + ], + "radius": null, + "object_id": 433, + "object_name": "1_24_433", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "observable_viewpoint_ids": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "70be058041854ca4bcfae120bfb3fba0", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "position": [ + 1.47537, + 0.09959, + -3.67742 + ], + "radius": null, + "object_id": 112, + "object_name": "0_6_112", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_130_newN_0", + "observable_viewpoint_ids": [ + "0_edge_192_newN_0", + "0_edge_130_newN_1", + "7d63015552ec4845b1fec9cb22b2aef6", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "position": [ + 0.6498, + 3.89667, + -12.0789 + ], + "radius": null, + "object_id": 448, + "object_name": "1_24_448", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "observable_viewpoint_ids": [ + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "position": [ + 0.56032, + 4.61524, + -12.805 + ], + "radius": null, + "object_id": 443, + "object_name": "1_24_443", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "observable_viewpoint_ids": [ + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "position": [ + 1.24987, + 0.02322, + -5.04576 + ], + "radius": null, + "object_id": 131, + "object_name": "0_7_131", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "736a864f92174a1facfc05a0eb246091", + "observable_viewpoint_ids": [ + "736a864f92174a1facfc05a0eb246091", + "0a3c3886d45044949211b0d0f243b720", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "21dca84e46e74021858b7343d8200182", + "0_edge_53_newN_0" + ] + }, + { + "position": [ + -1.70295, + 0.98825, + -8.44569 + ], + "radius": null, + "object_id": 115, + "object_name": "0_7_115", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "a0538fdc778f4a90ba3b0ef0f40d5caa", + "observable_viewpoint_ids": [ + "8a12480e7006496ca01c288e8b90e471", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ] + }, + { + "position": [ + -4.99332, + 0.06468, + -8.70378 + ], + "radius": null, + "object_id": 165, + "object_name": "0_9_165", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "8a12480e7006496ca01c288e8b90e471", + "observable_viewpoint_ids": [ + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4" + ] + }, + { + "position": [ + -6.95123, + 0.80769, + -5.82073 + ], + "radius": null, + "object_id": 204, + "object_name": "0_11_204", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_262_newN_1", + "observable_viewpoint_ids": [ + "0_edge_325_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b0ed9edb0520444da200f5f5c1f92e4c", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "3ca0a0e34b9046d58a1c3fe2543576e0" + ] + }, + { + "position": [ + -9.83888, + -0.19194, + -4.22574 + ], + "radius": null, + "object_id": 220, + "object_name": "0_12_220", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "446fe55778194ebd962d419067cede1a", + "observable_viewpoint_ids": [ + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "position": [ + -2.51311, + 0.107, + -12.1853 + ], + "radius": null, + "object_id": 144, + "object_name": "0_8_144", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "87298f50ef9140d891e1a06b4f1fab8a", + "observable_viewpoint_ids": [ + "0_edge_83_newN_0", + "503e9158558647fea49c1e6cfd0d5bc4", + "87298f50ef9140d891e1a06b4f1fab8a" + ] + }, + { + "position": [ + 2.40004, + 8.57331, + 4.68348 + ], + "radius": null, + "object_id": 513, + "object_name": "2_27_513", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "e34627d6e1e740b88b2fcb25d08e4029", + "observable_viewpoint_ids": [ + "3103ac3f8af84b21baa815a539ef2d1f", + "e34627d6e1e740b88b2fcb25d08e4029" + ] + }, + { + "position": [ + -1.02514, + 7.63049, + -5.49426 + ], + "radius": null, + "object_id": 594, + "object_name": "2_31_594", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "9b0ea58d8244411592f46e0c560d8595", + "observable_viewpoint_ids": [ + "9f02cc693511409ea77d000606f10f1d", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9b0ea58d8244411592f46e0c560d8595", + "2e532d8410fd4761b8166eedc0470347" + ] + }, + { + "position": [ + -1.01022, + 7.75517, + -10.5948 + ], + "radius": null, + "object_id": 632, + "object_name": "2_34_632", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "22cc9d0e399d4059a77fd3a9ba5ac049", + "observable_viewpoint_ids": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "0_edge_124_newN_2", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "7feb5839b9dc4b0e94d160c5af69d7c2" + ] + }, + { + "position": [ + -4.38725, + 7.8713, + -7.28692 + ], + "radius": null, + "object_id": 633, + "object_name": "2_34_633", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "2e532d8410fd4761b8166eedc0470347", + "observable_viewpoint_ids": [ + "2e532d8410fd4761b8166eedc0470347", + "45eac43ea9054cbbaa91863a5aa202fa", + "2985a27f4c174730b22ccb0f29699f36", + "33a824661ad34d9391d80d87485b5356" + ] + }, + { + "position": [ + -3.45152, + 7.16204, + -9.50859 + ], + "radius": null, + "object_id": 645, + "object_name": "2_34_645", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "2e532d8410fd4761b8166eedc0470347", + "observable_viewpoint_ids": [ + "0_edge_124_newN_2", + "2e532d8410fd4761b8166eedc0470347", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "45eac43ea9054cbbaa91863a5aa202fa" + ] + }, + { + "all_observation_viewpoint_ids": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "503e9158558647fea49c1e6cfd0d5bc4", + "21dca84e46e74021858b7343d8200182", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "16897e2c8dbd48c3a44997dad1c3801f", + "3c4a8eb4ef504942b6df1937932aa3f2", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "6811d52593b740cb9047202ce1e8a1e4", + "87298f50ef9140d891e1a06b4f1fab8a", + "e34627d6e1e740b88b2fcb25d08e4029", + "854eec676352475f90d1fb18677f9a8b", + "81c89eb6368341109260f88eb14a527e", + "8a12480e7006496ca01c288e8b90e471", + "ef22fd41921142d4a36d6354d2e10d23", + "3103ac3f8af84b21baa815a539ef2d1f", + "7f2859e1af57442ea602142e8fc3ebe0", + "2985a27f4c174730b22ccb0f29699f36", + "0_edge_83_newN_0", + "0_edge_130_newN_1", + "33a824661ad34d9391d80d87485b5356", + "0_edge_124_newN_2", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_325_newN_0", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b0ed9edb0520444da200f5f5c1f92e4c", + "70be058041854ca4bcfae120bfb3fba0", + "9b0ea58d8244411592f46e0c560d8595", + "5395b0d960da4a10a3fa76ec47a060f5", + "45eac43ea9054cbbaa91863a5aa202fa", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "4e3ca18a1d6848529e1e97e841b3faa9", + "6b3e8eaf98a14207b9ec30d4105938ce", + "0_edge_83_newN_1", + "0_edge_262_newN_0", + "2e532d8410fd4761b8166eedc0470347", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_53_newN_0", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "736a864f92174a1facfc05a0eb246091", + "428bc90067994001952048f25dc4e57d", + "0a3c3886d45044949211b0d0f243b720", + "32f8f90c0eb247758cb6cc576df52a46", + "9f02cc693511409ea77d000606f10f1d", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "0_edge_262_newN_1", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + } + ], + "kEZ7cmS4wCh.glb_sink": [ + { + "position": [ + 3.59712, + 4.07459, + 8.43245 + ], + "radius": null, + "object_id": 333, + "object_name": "1_18_333", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "81c89eb6368341109260f88eb14a527e", + "observable_viewpoint_ids": [ + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "position": [ + -8.99598, + 0.3062, + -4.39073 + ], + "radius": null, + "object_id": 216, + "object_name": "0_12_216", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "446fe55778194ebd962d419067cede1a", + "observable_viewpoint_ids": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "position": [ + -9.73062, + 0.46497, + -3.83126 + ], + "radius": null, + "object_id": 253, + "object_name": "0_14_253", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "446fe55778194ebd962d419067cede1a", + "observable_viewpoint_ids": [ + "446fe55778194ebd962d419067cede1a", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "position": [ + -0.76401, + 3.91199, + -8.47355 + ], + "radius": null, + "object_id": 418, + "object_name": "1_23_418", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "854eec676352475f90d1fb18677f9a8b", + "observable_viewpoint_ids": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa" + ] + }, + { + "position": [ + -4.99813, + 0.37055, + -8.79687 + ], + "radius": null, + "object_id": 177, + "object_name": "0_9_177", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "8a12480e7006496ca01c288e8b90e471", + "observable_viewpoint_ids": [ + "8a12480e7006496ca01c288e8b90e471" + ] + }, + { + "position": [ + -0.96618, + 7.22051, + 8.75144 + ], + "radius": null, + "object_id": 528, + "object_name": "2_28_528", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "observable_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538" + ] + }, + { + "all_observation_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e", + "8a12480e7006496ca01c288e8b90e471", + "33a824661ad34d9391d80d87485b5356", + "446fe55778194ebd962d419067cede1a", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0674ebc36a2048828d0ce0dc80751886", + "16897e2c8dbd48c3a44997dad1c3801f", + "b0ed9edb0520444da200f5f5c1f92e4c", + "0_edge_262_newN_1", + "33bea45604484e13bdaf280b2e8de538", + "45eac43ea9054cbbaa91863a5aa202fa", + "854eec676352475f90d1fb18677f9a8b", + "81c89eb6368341109260f88eb14a527e" + ] + } + ], + "kEZ7cmS4wCh.glb_bed": [ + { + "position": [ + -9.2173, + -0.12172, + -7.3447 + ], + "radius": null, + "object_id": 196, + "object_name": "0_11_196", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "af61ae476e8c4c6e9ee79090fd72f1c9", + "observable_viewpoint_ids": [ + "0_edge_325_newN_0", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ] + }, + { + "position": [ + 5.08884, + 3.72802, + 7.19032 + ], + "radius": null, + "object_id": 315, + "object_name": "1_17_315", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "observable_viewpoint_ids": [ + "5eb29212d43d436ca60e05d19215a0de", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "81c89eb6368341109260f88eb14a527e", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "position": [ + 2.49066, + 3.65753, + -5.48035 + ], + "radius": null, + "object_id": 398, + "object_name": "1_22_398", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "f71c7ed84bc34651a65dd51ba28cab4b", + "observable_viewpoint_ids": [ + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "position": [ + 2.29205, + 7.08901, + -0.01589 + ], + "radius": null, + "object_id": 476, + "object_name": "2_26_476", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_282_newN_1", + "observable_viewpoint_ids": [ + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_1", + "0_edge_282_newN_0" + ] + }, + { + "position": [ + 2.61987, + 6.85294, + -0.10167 + ], + "radius": null, + "object_id": 500, + "object_name": "2_26_500", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_282_newN_1", + "observable_viewpoint_ids": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "0_edge_282_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "f71c7ed84bc34651a65dd51ba28cab4b", + "81c89eb6368341109260f88eb14a527e", + "0_edge_282_newN_1", + "11df14e4d06c4d098f75eed3b847e3e3", + "0_edge_365_newN_0", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_325_newN_0", + "5eb29212d43d436ca60e05d19215a0de", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "428bc90067994001952048f25dc4e57d", + "0_edge_283_newN_1", + "08a9899f92e54a88b14ded82908ad7fa", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_0", + "0674ebc36a2048828d0ce0dc80751886", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_262_newN_1" + ] + } + ], + "kEZ7cmS4wCh.glb_chest_of_drawers": [ + { + "position": [ + -10.2365, + -0.21434, + -6.11916 + ], + "radius": null, + "object_id": 207, + "object_name": "0_11_207", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "af61ae476e8c4c6e9ee79090fd72f1c9", + "observable_viewpoint_ids": [ + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "position": [ + 3.37887, + 3.59903, + 6.17406 + ], + "radius": null, + "object_id": 323, + "object_name": "1_17_323", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "5eb29212d43d436ca60e05d19215a0de", + "observable_viewpoint_ids": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "position": [ + 0.20227, + 3.80924, + -13.6783 + ], + "radius": null, + "object_id": 439, + "object_name": "1_24_439", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "observable_viewpoint_ids": [ + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "position": [ + 1.21079, + 3.65471, + -4.33418 + ], + "radius": null, + "object_id": 409, + "object_name": "1_22_409", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "f71c7ed84bc34651a65dd51ba28cab4b", + "observable_viewpoint_ids": [ + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "position": [ + 1.15894, + 7.00838, + -1.31853 + ], + "radius": null, + "object_id": 496, + "object_name": "2_26_496", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "890c5356b4da4a418e223fc9e366bf89", + "observable_viewpoint_ids": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ] + }, + { + "position": [ + 1.80969, + 7.01577, + 1.57103 + ], + "radius": null, + "object_id": 498, + "object_name": "2_26_498", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "479c8982b70a4ae5be3dcf5148b4c739", + "observable_viewpoint_ids": [ + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + }, + { + "all_observation_viewpoint_ids": [ + "08a9899f92e54a88b14ded82908ad7fa", + "c709e0508ab94b139f42d19e7f0dcb53", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "f71c7ed84bc34651a65dd51ba28cab4b", + "5eb29212d43d436ca60e05d19215a0de", + "4ed0dc66de83415196cb59d120b71d55", + "0_edge_282_newN_1", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + } + ], + "kEZ7cmS4wCh.glb_shower": [ + { + "position": [ + -7.54389, + -0.36347, + -4.49249 + ], + "radius": null, + "object_id": 231, + "object_name": "0_12_231", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "b0ed9edb0520444da200f5f5c1f92e4c", + "observable_viewpoint_ids": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "all_observation_viewpoint_ids": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + } + ], + "kEZ7cmS4wCh.glb_bathtub": [ + { + "position": [ + -1.53349, + 3.65242, + -5.01771 + ], + "radius": null, + "object_id": 416, + "object_name": "1_23_416", + "object_category": "bathtub", + "room_id": null, + "room_name": null, + "viewpoint_id": "599f73b398ef4e738aae7f557c0b35c6", + "observable_viewpoint_ids": [ + "854eec676352475f90d1fb18677f9a8b", + "0_edge_177_newN_0", + "f71c7ed84bc34651a65dd51ba28cab4b", + "33a824661ad34d9391d80d87485b5356" + ] + }, + { + "position": [ + 3.87631, + 3.70516, + 9.88227 + ], + "radius": null, + "object_id": 334, + "object_name": "1_18_334", + "object_category": "bathtub", + "room_id": null, + "room_name": null, + "viewpoint_id": "81c89eb6368341109260f88eb14a527e", + "observable_viewpoint_ids": [ + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "position": [ + 1.60194, + 7.0397, + -8.33363 + ], + "radius": null, + "object_id": 589, + "object_name": "1_22_589", + "object_category": "bathtub", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_314_newN_0", + "observable_viewpoint_ids": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "0_edge_124_newN_0", + "9f02cc693511409ea77d000606f10f1d", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9a549b18c7684ef9b6e7be5f989df276", + "57180afbe3c341b18a9483752afb6f9a" + ] + }, + { + "all_observation_viewpoint_ids": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "0_edge_124_newN_0", + "33a824661ad34d9391d80d87485b5356", + "9f02cc693511409ea77d000606f10f1d", + "0_edge_314_newN_0", + "0_edge_177_newN_0", + "9a549b18c7684ef9b6e7be5f989df276", + "998e746d154e4635904dbf9201ad133c", + "f71c7ed84bc34651a65dd51ba28cab4b", + "7f2859e1af57442ea602142e8fc3ebe0", + "854eec676352475f90d1fb18677f9a8b", + "81c89eb6368341109260f88eb14a527e", + "2e532d8410fd4761b8166eedc0470347", + "57180afbe3c341b18a9483752afb6f9a" + ] + } + ], + "kEZ7cmS4wCh.glb_towel": [ + { + "position": [ + 3.66486, + 4.27927, + 8.30341 + ], + "radius": null, + "object_id": 343, + "object_name": "1_18_343", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "81c89eb6368341109260f88eb14a527e", + "observable_viewpoint_ids": [ + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "position": [ + 4.14105, + 3.867, + 9.49287 + ], + "radius": null, + "object_id": 339, + "object_name": "1_18_339", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "81c89eb6368341109260f88eb14a527e", + "observable_viewpoint_ids": [ + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "position": [ + -0.78356, + 7.60291, + 7.78326 + ], + "radius": null, + "object_id": 539, + "object_name": "2_28_539", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "33bea45604484e13bdaf280b2e8de538", + "observable_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538" + ] + }, + { + "position": [ + -0.61285, + 7.09774, + 9.01073 + ], + "radius": null, + "object_id": 541, + "object_name": "2_28_541", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "observable_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "position": [ + -0.96541, + 7.0983, + 8.30577 + ], + "radius": null, + "object_id": 542, + "object_name": "2_28_542", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "observable_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538" + ] + }, + { + "position": [ + -1.11351, + 7.60467, + 8.8354 + ], + "radius": null, + "object_id": 543, + "object_name": "2_28_543", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "observable_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "position": [ + 0.87122, + 7.18822, + -8.56757 + ], + "radius": null, + "object_id": 598, + "object_name": "2_31_598", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "7f2859e1af57442ea602142e8fc3ebe0", + "observable_viewpoint_ids": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "9f02cc693511409ea77d000606f10f1d", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347" + ] + }, + { + "all_observation_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "9f02cc693511409ea77d000606f10f1d", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "33bea45604484e13bdaf280b2e8de538", + "2e532d8410fd4761b8166eedc0470347", + "81c89eb6368341109260f88eb14a527e" + ] + } + ], + "kEZ7cmS4wCh.glb_toilet": [ + { + "position": [ + -0.22685, + 3.63428, + -4.50178 + ], + "radius": null, + "object_id": 426, + "object_name": "1_23_426", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "f71c7ed84bc34651a65dd51ba28cab4b", + "observable_viewpoint_ids": [ + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "position": [ + -0.42425, + 6.96266, + 9.7411 + ], + "radius": null, + "object_id": 533, + "object_name": "2_28_533", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "observable_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "all_observation_viewpoint_ids": [ + "36851a5222e54eb288084a0f3e55340e", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + } + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3TESA3PJ33D3RQKH7M6HAKZQ90HMM4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 13.02666, + -0.31367, + 0.56412 + ], + "start_rotation": [ + 0, + 0.63204, + 0, + 0.77494 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 24.80828, + "euclidean_distance": 23.02132, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.89924, + -0.31367, + -6.03886 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3H0W84IWBM5WCI5WVWEFJBOR6K7ERB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.26362, + 6.68633, + 8.12488 + ], + "start_rotation": [ + 0, + 0.48554, + 0, + 0.87421 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.80698, + "euclidean_distance": 3.19796, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.78099, + 6.68633, + 5.34123 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1" + ], + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:35DR22AR5FNDZGBBFB3BP26IGD4X33", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.33905, + -0.31367, + 3.87309 + ], + "start_rotation": [ + 0, + 0.26066, + 0, + 0.96543 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 28.08603, + "euclidean_distance": 6.19086, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.73181, + 3.48633, + 8.20974 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "42500d43b2454445a68e90f16aa5ca15", + "path": [ + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3QJOXOW4XLU5F2S4QOIYXCUH0Y9EMQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.79688, + -0.31367, + -4.31952 + ], + "start_rotation": [ + 0, + 0.56754, + 0, + -0.82335 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.19198, + "euclidean_distance": 13.48337, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.66128, + 3.48633, + 8.09893 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "21dca84e46e74021858b7343d8200182", + "path": [ + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886", + "90dcb8a526504454b728d3f7951f153f", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:39GAF6DQWT3PLOS1SSOADOU02HAV1W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.17589, + -0.05944, + 0.61271 + ], + "start_rotation": [ + 0, + 0.71078, + 0, + 0.70342 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.52072, + "euclidean_distance": 5.18264, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.27578, + 3.48633, + -2.9665 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_450_newN_0", + "path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:39RP059MEJW78ZGKGXG8W4OWX1VMBX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.63548, + 0.08633, + -2.87526 + ], + "start_rotation": [ + 0, + 0.55977, + 0, + 0.82864 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.47726, + "euclidean_distance": 6.34081, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.25654, + 3.48633, + -2.94906 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "b0ed9edb0520444da200f5f5c1f92e4c", + "path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "446fe55778194ebd962d419067cede1a", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_99_newN_0", + "6aca4da5a7974141b5179106e1becd66", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "6aca4da5a7974141b5179106e1becd66", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + [ + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721" + ], + "d12a35cb161641318a92f9e5dd8915db", + [ + "1e87a0b7776d48c7a05569b182f8c3a4" + ], + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + [ + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db" + ], + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + [ + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:386CSBG1O1PSN2XHCZ6H2XM9T0K6QK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 20.64978, + -0.91367, + -0.58369 + ], + "start_rotation": [ + 0, + 0.40286, + 0, + 0.91526 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 16.14224, + "euclidean_distance": 15.34698, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.20538, + -0.31367, + 4.51979 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0_edge_88_newN_1", + "path": [ + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "4a9d28ec80c94f1cadedb3e17667cd29", + "d359f126c7b6433c92afc8ee3f327f59", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "0_edge_325_newN_0", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "ce23b2b514f449a0b334dc15146fc14f", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_325_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a" + ], + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "4a9d28ec80c94f1cadedb3e17667cd29", + [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06" + ], + "d359f126c7b6433c92afc8ee3f327f59", + [ + "789db63b2d704e95a468bf4e6332d8f9" + ], + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + [ + "b59ade97c6674c23ba6c98612611bfe9" + ], + "0_edge_325_newN_0", + [ + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "ce23b2b514f449a0b334dc15146fc14f", + [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A314XJY8V1YL12:30H4UDGLT4L9CTHUZ2Y9ROTLE56MPE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.07967, + -0.31367, + -1.10734 + ], + "start_rotation": [ + 0, + 0.92767, + 0, + -0.37339 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.65783, + "euclidean_distance": 8.12744, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.79028, + -0.31367, + 6.94028 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "7bb74d11234146b19b211e4b1c319cbf", + "path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_238_newN_0", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_83_newN_1", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "cc6552274d7e482cbd3bf904d5754203", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3Z3ZLGNNSKXTQJAZTX8JVUAPJ9D3Q6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.61684, + -0.31367, + -0.10915 + ], + "start_rotation": [ + 0, + 0.80902, + 0, + 0.58778 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.81324, + "euclidean_distance": 7.59149, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.25471, + 3.48633, + -2.99594 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_249_newN_0", + "path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3A1PQ49WVJKK3NXHN376YN3RU3H1HW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.37316, + 3.88633, + 3.26065 + ], + "start_rotation": [ + 0, + 0.81109, + 0, + -0.58492 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 23.18352, + "euclidean_distance": 15.37795, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.12968, + 0.24963, + -3.53707 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3FFJ6VRIL3RKSTNJX2LRKULWPNJ0IC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.16303, + -0.31367, + -5.59265 + ], + "start_rotation": [ + 0, + 0.93958, + 0, + 0.34232 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.97967, + "euclidean_distance": 3.82152, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.30041, + 3.48633, + -5.78854 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "736a864f92174a1facfc05a0eb246091", + "path": [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "cc6552274d7e482cbd3bf904d5754203", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A314XJY8V1YL12:32XVDSJFP10DKMGOX4NXVBLS3UK2MB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.62221, + -0.31367, + 4.99959 + ], + "start_rotation": [ + 0, + 0.96425, + 0, + 0.26498 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 26.62407, + "euclidean_distance": 15.65365, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.22389, + 3.48633, + -2.91629 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "4486a4f9a25742c98cdd93b72fb3220e", + "path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JJVG1YBED090SVEOYZMF2DAB65B5W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.32808, + 3.88633, + 8.41377 + ], + "start_rotation": [ + 0, + 0.7903, + 0, + 0.61272 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 29.27232, + "euclidean_distance": 18.97675, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.08322, + 0.26661, + -3.54531 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3M68NM076JASZ3CHPEVH7NWEPNQ6RR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.10209, + -0.31367, + -13.45767 + ], + "start_rotation": [ + 0, + 0.81159, + 0, + -0.58423 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.18991, + "euclidean_distance": 18.58021, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.8255, + -0.28936, + -6.08638 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b9dbbef4ae9a4646ba247cf476b1baeb", + "path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_367_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "fb7e82f5b99340eabb9a579772176b33", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A314XJY8V1YL12:3RUIQRXJBDRZFQKB7Y4NAU5C9PJLLF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.97193, + -0.31367, + -5.82238 + ], + "start_rotation": [ + 0, + 0.64778, + 0, + -0.76182 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.45477, + "euclidean_distance": 19.06856, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.18681, + -0.31367, + -5.54835 + ] + }, + "scene_dataset": null, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "6aca4da5a7974141b5179106e1becd66", + "path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "0_edge_133_newN_1", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35L9RVQFCQL0CKOFPRHQ9P8O5ZSUH0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.23661, + 6.68633, + 6.48294 + ], + "start_rotation": [ + 0, + 0.71328, + 0, + -0.70088 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.25956, + "euclidean_distance": 4.83029, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.1488, + 6.68633, + 8.55049 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "62ceda9ff3dd4e0f9b63f3b70691d705", + "path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3ZR9AIQJUDCQKMO4CDJNQTBDK5540O", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.67302, + -0.31367, + -4.31932 + ], + "start_rotation": [ + 0, + 0.59283, + 0, + 0.80533 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.8912, + "euclidean_distance": 9.81938, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.20998, + 3.48633, + -3.01641 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + [ + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:338JKRMM282GXBAHJM0Z9OWUYXOHA1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.73389, + 3.88633, + -0.48234 + ], + "start_rotation": [ + 0, + 0.97904, + 0, + 0.20368 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.57773, + "euclidean_distance": 15.43508, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.21511, + 3.48633, + -5.67754 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:39ASUFLU6ZAG9ER84VK78TAF72EEXV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.47583, + 3.88633, + -0.9885 + ], + "start_rotation": [ + 0, + 0.80814, + 0, + -0.58899 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 16.65216, + "euclidean_distance": 15.23642, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.06477, + 3.28633, + 5.94479 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:39GXDJN2OVH7WOCMRDXPSYH8GNDV8D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.67088, + 3.97277, + -0.60705 + ], + "start_rotation": [ + 0, + 0.20825, + 0, + -0.97808 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 24.4675, + "euclidean_distance": 9.88946, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.27877, + 3.48633, + -5.88253 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "830bd3180a5f497d8631f6c8112792d6", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "830bd3180a5f497d8631f6c8112792d6", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "830bd3180a5f497d8631f6c8112792d6", + [ + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3Z3ZLGNNSKXTQJAZTX8JVUAPJA93Q4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.06914, + 3.88633, + 3.72649 + ], + "start_rotation": [ + 0, + 0.96337, + 0, + 0.26818 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 22.04741, + "euclidean_distance": 18.54335, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.86859, + 3.56174, + -10.28285 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "0_edge_133_newN_1", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:382M9COHEJIOSAXDZQ9KOMBBDKZUEL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.75112, + 3.88633, + 5.33044 + ], + "start_rotation": [ + 0, + 0.90774, + 0, + -0.41953 + ], + "object_category": "table", + "info": { + "geodesic_distance": 24.04523, + "euclidean_distance": 22.10164, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.26923, + 3.28633, + 6.04612 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3X1FV8S5JZUMP3I4AB9DKBY646YGVM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.09121, + -0.31367, + 0.03478 + ], + "start_rotation": [ + 0, + 0.46197, + 0, + 0.8869 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 20.98624, + "euclidean_distance": 19.31696, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.06608, + -0.31367, + -6.68088 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:352YTHGROXG1VMU0ALQ8WLAU6MFH4B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.60347, + 3.88633, + -0.32407 + ], + "start_rotation": [ + 0, + 0.72133, + 0, + -0.69259 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 23.93418, + "euclidean_distance": 22.7508, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.33998, + 3.28633, + 5.71854 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3PH3VY7DJN0ZV9DEQD2YRKXQM6SZW4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.51887, + -0.31367, + 7.37086 + ], + "start_rotation": [ + 0, + 0.20626, + 0, + 0.9785 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.11262, + "euclidean_distance": 18.2324, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.82067, + -0.31367, + -6.76805 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "60434c00433b4438912eebe9bd2c6984", + "path": [ + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984" + ], + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NG53N1RLXMUR4FQ51OQM6SQU0QP82", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.32801, + 6.68633, + 2.91921 + ], + "start_rotation": [ + 0, + 0.86138, + 0, + 0.50796 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.71602, + "euclidean_distance": 5.65356, + "closest_goal_object_id": 539, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.38552, + 6.68633, + 7.28541 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "c709e0508ab94b139f42d19e7f0dcb53", + "path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "refined_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + [ + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23" + ], + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:337RC3OW0752BVW5L26TX33E0OFVL4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.85462, + 3.88633, + 5.07543 + ], + "start_rotation": [ + 0, + 0.62014, + 0, + 0.78449 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 23.35384, + "euclidean_distance": 21.11324, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.23065, + 3.44477, + 7.30676 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ] + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:37TRT2X24SUH7RAZD03GGCWFT7WJBM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.248, + 3.52136, + -9.05154 + ], + "start_rotation": [ + 0, + 0.49091, + 0, + -0.87121 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.46215, + "euclidean_distance": 17.23671, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.74454, + 3.48633, + 8.18651 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "4e3ca18a1d6848529e1e97e841b3faa9", + "path": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9" + ], + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "70be058041854ca4bcfae120bfb3fba0", + [ + "45eac43ea9054cbbaa91863a5aa202fa" + ], + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3TY7ZAOG5HNBYOD7X563XA09HSA0KR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.40126, + 6.68633, + 6.19436 + ], + "start_rotation": [ + 0, + 0.50492, + 0, + -0.86317 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 11.42079, + "euclidean_distance": 8.8305, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.91186, + 6.75022, + -0.71892 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "ee4d521f9b174894b7b595e1b56ee901", + "path": [ + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "9f02cc693511409ea77d000606f10f1d", + "152355d224574b17b3be41aa6edf2b41" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "refined_path": [ + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + [ + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347" + ], + "9f02cc693511409ea77d000606f10f1d", + [ + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "152355d224574b17b3be41aa6edf2b41" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:36H9ULYP64X7K8MFI2PCZ2N0853FJF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.11338, + -0.31367, + 9.0743 + ], + "start_rotation": [ + 0, + 0.99619, + 0, + -0.08724 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.80495, + "euclidean_distance": 11.43186, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.23033, + -0.28836, + -2.27229 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ] + }, + { + "episode_id": "A302KOFOYLD89A:352YTHGROXG1VMU0ALQ8WLAU6M64HP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.45553, + 3.48633, + -8.73047 + ], + "start_rotation": [ + 0, + 0.85078, + 0, + 0.52552 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.21295, + "euclidean_distance": 4.94772, + "closest_goal_object_id": 404, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.41626, + 3.61679, + -9.65918 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "45eac43ea9054cbbaa91863a5aa202fa", + "path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3RGU30DZTCBDQIEW4PTPUS7955VJM4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.51568, + 0.08633, + 4.0455 + ], + "start_rotation": [ + 0, + 0.69763, + 0, + -0.71646 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.2128, + "euclidean_distance": 3.19743, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.08905, + -0.31367, + 2.1112 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "d9b3b2d4da2e421ab0bf916e8aef3512", + "path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "refined_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3WT783CTPDKUZD4T38MUT8JK3O2CBI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.79773, + 3.88633, + 0.61034 + ], + "start_rotation": [ + 0, + 0.00047, + 0, + -1 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 23.09504, + "euclidean_distance": 21.88975, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.73372, + 3.48633, + 8.18337 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3ZR9AIQJUDCQKMO4CDJNQTBDK6U40F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.99746, + 0.08633, + -1.33125 + ], + "start_rotation": [ + 0, + 0.49038, + 0, + -0.87151 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.69182, + "euclidean_distance": 11.12473, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.30638, + -0.31367, + 7.17804 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "f97419bd62f6462fbbf8fb8adc4dea29", + "path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_367_newN_2", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "refined_path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3L4PIM1GQVJUINMNVXQ9QEG7OWBRY2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.84172, + 3.28633, + 4.24677 + ], + "start_rotation": [ + 0, + 0.35425, + 0, + -0.93515 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.42116, + "euclidean_distance": 3.16203, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.03712, + 3.28633, + 5.68176 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:37XITHEISYCHFKLIZ58KTNOOL8JCR5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.70522, + -0.31367, + -12.02668 + ], + "start_rotation": [ + 0, + 0.83709, + 0, + -0.54706 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.28341, + "euclidean_distance": 8.41727, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.73576, + -0.31367, + -6.39257 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "87298f50ef9140d891e1a06b4f1fab8a", + "path": [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "refined_path": [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a" + ], + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3Z3ZLGNNSKXTQJAZTX8JVUAPJ9D3Q6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.61684, + -0.31367, + -0.10915 + ], + "start_rotation": [ + 0, + 0.80902, + 0, + 0.58778 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.81324, + "euclidean_distance": 7.59149, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.25471, + 3.48633, + -2.99594 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_249_newN_0", + "path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Q8GYXHFER5SAXNK2YVHQMJSTRCC5B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.35809, + 6.68633, + -2.33698 + ], + "start_rotation": [ + 0, + 0.95734, + 0, + 0.28895 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 14.86703, + "euclidean_distance": 11.45059, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.16969, + 6.68633, + 8.46473 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "0_edge_280_newN_0", + "path": [ + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d" + ], + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + [ + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + [ + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JJVG1YBED090SVEOYZMF2DAB65B5W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.32808, + 3.88633, + 8.41377 + ], + "start_rotation": [ + 0, + 0.7903, + 0, + 0.61272 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 29.27232, + "euclidean_distance": 18.97675, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.08322, + 0.26661, + -3.54531 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3BQU611VFRN9DMITT4Y70CNM92499U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.50356, + -0.71367, + 4.57641 + ], + "start_rotation": [ + 0, + 0.40422, + 0, + -0.91466 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.97078, + "euclidean_distance": 10.23402, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.25572, + -0.31367, + 4.50871 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0", + "0_edge_122_newN_0", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330" + ], + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3Z7EFSHGNBH1CG7U84ECI5ACMQZXCJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.29271, + 3.48633, + -9.89442 + ], + "start_rotation": [ + 0, + 0.32177, + 0, + 0.94682 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.3529, + "euclidean_distance": 3.04389, + "closest_goal_object_id": 398, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.90846, + 3.48633, + -7.74059 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "3c4a8eb4ef504942b6df1937932aa3f2", + "path": [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3PDJHANYK7JFA9YET9JNTJU82DK6HK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.98098, + -0.31367, + -3.00393 + ], + "start_rotation": [ + 0, + 0.97003, + 0, + 0.243 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.58183, + "euclidean_distance": 7.18443, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.19637, + -0.31367, + 3.00076 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + [ + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4" + ] + }, + { + "episode_id": "A75XDPFNICR3T:37TRT2X24SUH7RAZD03GGCWFT7CBJU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.18037, + 3.88633, + -1.1861 + ], + "start_rotation": [ + 0, + 0.77855, + 0, + -0.62758 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 20.15788, + "euclidean_distance": 18.82576, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.3274, + 3.28633, + 5.7323 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d" + ], + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:35H6S234SC33UGEJS7IE4MRIX6456H", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.92602, + -0.31367, + 7.7403 + ], + "start_rotation": [ + 0, + 0.5043, + 0, + -0.86353 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 22.98186, + "euclidean_distance": 17.63697, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.19571, + -0.31367, + -5.25768 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "dbef8aac0198493597e8e5aec0de17cb", + "path": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3I3WADAZ9S7TJMKNS348LMD9I4JO56", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.85027, + 3.48633, + 1.89474 + ], + "start_rotation": [ + 0, + 0.78154, + 0, + 0.62385 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 17.44734, + "euclidean_distance": 14.53858, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06309, + 3.58856, + -10.31322 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3G5F9DBFOR00PZDFUHRV5BA7J7MHVZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.63998, + 3.92801, + 6.2411 + ], + "start_rotation": [ + 0, + 0.4512, + 0, + 0.89242 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 26.32498, + "euclidean_distance": 23.80315, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06406, + 3.41374, + 7.17576 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:378XPAWRUEGGT6L1P4IK90X9YAYIAQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 14.3038, + -0.24113, + -0.65287 + ], + "start_rotation": [ + 0, + 0.971, + 0, + -0.23906 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 25.76387, + "euclidean_distance": 23.79733, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.1387, + -0.31367, + -5.18476 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "193d45e0b5d842e69acc5813e478f614", + "path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3N1FSUEFL73KJ6PYOP7I50VWEVJ4DO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.79276, + -0.91367, + 7.65318 + ], + "start_rotation": [ + 0, + 0.09475, + 0, + -0.9955 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.78864, + "euclidean_distance": 10.05223, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.28161, + -0.31367, + 4.53712 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + [ + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0" + ], + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3U5JL4WY5MCYHCUFFP8UZ7YOUCP4XI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.53599, + 6.68633, + -6.86469 + ], + "start_rotation": [ + 0, + 0.82117, + 0, + -0.57069 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.05572, + "euclidean_distance": 5.6804, + "closest_goal_object_id": 605, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.53819, + 6.68633, + -2.97609 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "57180afbe3c341b18a9483752afb6f9a", + "path": [ + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "refined_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + [ + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a" + ], + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3RANCT1ZVHKQL7LTPZ7UNE5QANQUBP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 17.96482, + -0.67533, + 2.55436 + ], + "start_rotation": [ + 0, + 0.85752, + 0, + 0.51445 + ], + "object_category": "table", + "info": { + "geodesic_distance": 12.19196, + "euclidean_distance": 10.21352, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.40473, + -0.31367, + 5.89115 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "0_edge_86_newN_1", + "path": [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "7bb74d11234146b19b211e4b1c319cbf" + ], + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3TAYZSBPLNBGIHTTH1JJ7KKYVKSS25", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.96177, + -0.31367, + 6.05409 + ], + "start_rotation": [ + 0, + 0.83454, + 0, + -0.55095 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 7.9013, + "euclidean_distance": 7.00948, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.79712, + 0.16068, + 0.86883 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "3ae10635160248a58e2197541e621ddb", + "path": [ + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:386CSBG1O1PSN2XHCZ6H2XM9T0K6QK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 20.64978, + -0.91367, + -0.58369 + ], + "start_rotation": [ + 0, + 0.40286, + 0, + 0.91526 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 16.14224, + "euclidean_distance": 15.34698, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.20538, + -0.31367, + 4.51979 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0_edge_88_newN_1", + "path": [ + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "4a9d28ec80c94f1cadedb3e17667cd29", + "d359f126c7b6433c92afc8ee3f327f59", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "0_edge_325_newN_0", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "ce23b2b514f449a0b334dc15146fc14f", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_325_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a" + ], + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "4a9d28ec80c94f1cadedb3e17667cd29", + [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06" + ], + "d359f126c7b6433c92afc8ee3f327f59", + [ + "789db63b2d704e95a468bf4e6332d8f9" + ], + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + [ + "b59ade97c6674c23ba6c98612611bfe9" + ], + "0_edge_325_newN_0", + [ + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "ce23b2b514f449a0b334dc15146fc14f", + [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3S06PH7KST73R7SF17OG72OT2BYD19", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.27894, + 6.68633, + 7.38896 + ], + "start_rotation": [ + 0, + 0.97263, + 0, + 0.23237 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 16.4437, + "euclidean_distance": 8.24785, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.94991, + 6.75054, + -0.68765 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "62ceda9ff3dd4e0f9b63f3b70691d705", + "path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3LUY3GC6313QRQA7VWWK86WVJGK7PX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.23523, + -0.31367, + 3.84807 + ], + "start_rotation": [ + 0, + 0.38004, + 0, + 0.92497 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 10.76839, + "euclidean_distance": 8.56371, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.73752, + 0.16529, + 0.91286 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "454f883454684daf86530a34b6d007f4", + "path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "refined_path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + [ + "d8401d8f05d84422a3543e9a1e612d11" + ], + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:38JBBYETQQDPBC3YKKI2BIDHE7QE4X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.12523, + 3.88633, + 1.56709 + ], + "start_rotation": [ + 0, + 0.81482, + 0, + 0.57972 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 19.31721, + "euclidean_distance": 15.37507, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.38242, + 3.48633, + -10.21541 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3ZDAD0O1T3GIYX95UQ927FAGABEXTF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.16105, + -0.31367, + -12.66339 + ], + "start_rotation": [ + 0, + 0.64829, + 0, + 0.76139 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.75606, + "euclidean_distance": 3.45001, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.1206, + -0.31367, + -11.2394 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "41fa201781b6448db96e6a4d4f96041e", + "path": [ + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "refined_path": [ + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + [ + "41fa201781b6448db96e6a4d4f96041e" + ], + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561" + ] + }, + { + "episode_id": "A5A14MTB35J23:3907X2AHF28J5PD1PKFPCFFN80F2PT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.49391, + -0.31367, + -3.25217 + ], + "start_rotation": [ + 0, + 0.38965, + 0, + -0.92096 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.5079, + "euclidean_distance": 12.01144, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.6948, + 3.48633, + 7.99679 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "68f1cface63843b6b3d72072a4a11fa8", + "path": [ + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + [ + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3PZDLQMM0VO0B04XKFTJSFGG9HZ2CE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.60152, + -0.31367, + -10.53018 + ], + "start_rotation": [ + 0, + 0.99082, + 0, + 0.13522 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.48411, + "euclidean_distance": 17.48698, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.17183, + -0.31367, + -5.24766 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "b6a9f93f5e264750ad8159d4b93ac177", + "path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3018Q3ZVOKTTM5OKFRCTNSY0L6BRAX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.14987, + 3.28866, + 3.28158 + ], + "start_rotation": [ + 0, + 0.65346, + 0, + -0.75696 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 21.13641, + "euclidean_distance": 9.0534, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.24513, + 3.48633, + -5.84962 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3DI28L7YXCH8JD6FX2Z0DK6E2NPE1T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.61199, + 3.88633, + 3.74466 + ], + "start_rotation": [ + 0, + 0.78591, + 0, + -0.61835 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 27.57272, + "euclidean_distance": 25.76546, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.09143, + 3.28633, + 5.87593 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3OCHAWUVGQNJVEJI0HVA6ONKRZGKXR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.03844, + -0.31367, + 8.91071 + ], + "start_rotation": [ + 0, + 0.15177, + 0, + 0.98842 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.39124, + "euclidean_distance": 7.82821, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.20029, + -0.31367, + 2.72222 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "9c87bfbb759549478b4159a471d78826", + "path": [ + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + [ + "60ddff235ac44416b783febc3fa613b6" + ], + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:30ZX6P7VFAYNJEA3U7A5FJTBZ0M2J4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.59305, + 3.88633, + 5.7787 + ], + "start_rotation": [ + 0, + 0.96975, + 0, + -0.24411 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.67151, + "euclidean_distance": 14.81458, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.16835, + 3.4284, + 7.35703 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3L4PIM1GQVJUINMNVXQ9QEG7OXSYRS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.53828, + -0.31367, + -8.57095 + ], + "start_rotation": [ + 0, + 0.99253, + 0, + 0.12203 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.33207, + "euclidean_distance": 12.65302, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.83959, + -0.31367, + -6.72248 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "d9c135bdc3bf4abdb06c89c8722ac2a1", + "path": [ + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ], + "refined_path": [ + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ] + }, + { + "episode_id": "A314XJY8V1YL12:32XVDSJFP10DKMGOX4NXVBLS3UK2MB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.62221, + -0.31367, + 4.99959 + ], + "start_rotation": [ + 0, + 0.96425, + 0, + 0.26498 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 26.62407, + "euclidean_distance": 15.65365, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.22389, + 3.48633, + -2.91629 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "4486a4f9a25742c98cdd93b72fb3220e", + "path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:39U1BHVTDNU6IZ2RA12E0ZLC3H8T38", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.15317, + 6.68633, + -1.55395 + ], + "start_rotation": [ + 0, + 0.65624, + 0, + 0.75455 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.59767, + "euclidean_distance": 9.16282, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.07057, + 6.70222, + -1.07443 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_128_newN_1", + "path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3YDGXNSEO1X82BT77HW2J8HV34H48D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.87752, + 3.88633, + 2.73819 + ], + "start_rotation": [ + 0, + 0.8113, + 0, + -0.58463 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 23.46926, + "euclidean_distance": 19.0812, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.9419, + 3.5722, + -10.28653 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3YDTZAI2WZJQRB9M8WNN4YUNPY041I", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.64383, + 2.86573, + -3.21753 + ], + "start_rotation": [ + 0, + 0.79822, + 0, + -0.60236 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.87889, + "euclidean_distance": 6.82799, + "closest_goal_object_id": 101, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.67631, + -0.22881, + -2.27617 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "3c8b0995c325481a85ad4648931e5fde", + "path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + [ + "3c8b0995c325481a85ad4648931e5fde" + ], + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3TESA3PJ33D3RQKH7M6HAKZQ90HMM4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 13.02666, + -0.31367, + 0.56412 + ], + "start_rotation": [ + 0, + 0.63204, + 0, + 0.77494 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 24.80828, + "euclidean_distance": 23.02132, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.89924, + -0.31367, + -6.03886 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3QJOXOW4XLU5F2S4QOIYXCUH0Y9EMQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.79688, + -0.31367, + -4.31952 + ], + "start_rotation": [ + 0, + 0.56754, + 0, + -0.82335 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.19198, + "euclidean_distance": 13.48337, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.66128, + 3.48633, + 8.09893 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "21dca84e46e74021858b7343d8200182", + "path": [ + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886", + "90dcb8a526504454b728d3f7951f153f", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3JV9LGBJWVHRZJ979ZNZPJ4Y8DPGO8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 12.23047, + -0.31367, + 1.20923 + ], + "start_rotation": [ + 0, + 0.9005, + 0, + -0.43486 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.16347, + "euclidean_distance": 20.80873, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.92221, + -0.31367, + -6.69545 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:36V4Q8R5ZM3UC5I9ZFDYRTJVJ1UQMB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.06527, + 3.88633, + 1.17416 + ], + "start_rotation": [ + 0, + 0.98951, + 0, + 0.14447 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 16.64069, + "euclidean_distance": 15.49052, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.67284, + 3.28633, + 5.65466 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:35DR22AR5FNDZGBBFB3BP26IGD4X33", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.33905, + -0.31367, + 3.87309 + ], + "start_rotation": [ + 0, + 0.26066, + 0, + 0.96543 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 28.08603, + "euclidean_distance": 6.19086, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.73181, + 3.48633, + 8.20974 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "42500d43b2454445a68e90f16aa5ca15", + "path": [ + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:34PGFRQONQE9VU8A8RZC3Q9037DWJC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.18602, + 4.05804, + -0.04766 + ], + "start_rotation": [ + 0, + 0.86865, + 0, + 0.49543 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 23.76256, + "euclidean_distance": 9.7963, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.22746, + 3.48633, + -5.84198 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:39KFRKBFIPYRLAU73595WJB2DB2OY5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.99605, + -0.31367, + -8.71627 + ], + "start_rotation": [ + 0, + 0.35299, + 0, + 0.93563 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.52105, + "euclidean_distance": 12.55203, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.04622, + -0.31367, + -5.1349 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_367_newN_2", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1" + ], + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TY7ZAOG5HNBYOD7X563XA09HSM0K3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.464, + -0.31367, + 3.46952 + ], + "start_rotation": [ + 0, + 0.75805, + 0, + 0.65219 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 23.09299, + "euclidean_distance": 21.10274, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.89858, + -0.31367, + -6.64993 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "4486a4f9a25742c98cdd93b72fb3220e", + "path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_425_newN_1", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e" + ], + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3CTOC39K39TU5F790JR0BAAJAG7J70", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.19172, + 3.88633, + 0.6097 + ], + "start_rotation": [ + 0, + 0.73179, + 0, + 0.68152 + ], + "object_category": "table", + "info": { + "geodesic_distance": 14.37127, + "euclidean_distance": 13.65099, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.22432, + 3.28633, + 6.02234 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3R2UR8A0ICJ2L54XY9N3D54TB46OXV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.70504, + 0.19537, + 0.27151 + ], + "start_rotation": [ + 0, + 0.853, + 0, + 0.52192 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.02047, + "euclidean_distance": 8.3991, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.09101, + -0.31367, + -5.17599 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "976a7a79035a4583a10624453174d94e", + "path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3FFJ6VRIL3RKSTNJX2LRKULWPNJ0IC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.16303, + -0.31367, + -5.59265 + ], + "start_rotation": [ + 0, + 0.93958, + 0, + 0.34232 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.97967, + "euclidean_distance": 3.82152, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.30041, + 3.48633, + -5.78854 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "736a864f92174a1facfc05a0eb246091", + "path": [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "cc6552274d7e482cbd3bf904d5754203", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1JI19KPIVNL3Y:3ZPPDN2SLXZQ8I9A1FETSQOX0ZM9E6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.06887, + 6.68633, + -10.00242 + ], + "start_rotation": [ + 0, + 0.94815, + 0, + 0.31783 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 24.88709, + "euclidean_distance": 18.54351, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.19487, + 6.68633, + 8.46817 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "22cc9d0e399d4059a77fd3a9ba5ac049", + "path": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3H0W84IWBM5WCI5WVWEFJBOR6K7ERB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.26362, + 6.68633, + 8.12488 + ], + "start_rotation": [ + 0, + 0.48554, + 0, + 0.87421 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.80698, + "euclidean_distance": 3.19796, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.78099, + 6.68633, + 5.34123 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1" + ], + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3NGI5ARFTV8CG4V56GFB7W5IGUPP1N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.24808, + 6.68633, + 5.50207 + ], + "start_rotation": [ + 0, + 0.26063, + 0, + 0.96544 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.9199, + "euclidean_distance": 5.34053, + "closest_goal_object_id": 554, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.09083, + 6.68633, + 2.35325 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "e34627d6e1e740b88b2fcb25d08e4029", + "path": [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "refined_path": [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3QAPZX2QN6GGH89H8Z0ZXEEF0S502M", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.93822, + -0.31367, + -1.0068 + ], + "start_rotation": [ + 0, + 0.95272, + 0, + -0.30385 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 15.90696, + "euclidean_distance": 12.99547, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.02951, + -0.28998, + -6.10099 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_133_newN_0", + "path": [ + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "682b19fbab024b3ca81f62cd4d287ca7" + ], + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3JBT3HLQFA59B0GDERO3ZQPUT8NZP5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.05413, + 6.68633, + 0.22393 + ], + "start_rotation": [ + 0, + 0.79579, + 0, + 0.60557 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.9236, + "euclidean_distance": 7.14945, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.99865, + 6.68633, + 5.39672 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3IOEN3P9S9M46YD0RKG21WE1LP7161", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.77157, + 3.88633, + 0.02212 + ], + "start_rotation": [ + 0, + 0.95622, + 0, + 0.29265 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 25.66852, + "euclidean_distance": 12.01963, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.33203, + 3.48633, + -5.80501 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3TK8OJTYM3OS2GB3DUZ0EKCY5YSVPE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.59605, + 6.68633, + 7.21251 + ], + "start_rotation": [ + 0, + 0.81247, + 0, + 0.58301 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 13.72282, + "euclidean_distance": 8.71456, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.01727, + 6.72152, + -0.87664 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "c66a3e6ef48143f5a86d202e62515386", + "path": [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_128_newN_1", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NG53N1RLXMUR4FQ51OQM6SQUZJ8PC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 14.77316, + -0.22429, + 0.20373 + ], + "start_rotation": [ + 0, + 0.07834, + 0, + 0.99693 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 28.95402, + "euclidean_distance": 17.74854, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.35657, + 3.48633, + -2.87036 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "193d45e0b5d842e69acc5813e478f614", + "path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db" + ], + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:32M8BPYGAVPH3XY4B4AU5M8CW4SGIF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.8726, + 3.48633, + 2.12654 + ], + "start_rotation": [ + 0, + 0.99116, + 0, + -0.13266 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.94989, + "euclidean_distance": 9.42431, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.16423, + 3.43671, + 7.16464 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3A1PQ49WVJKK3NXHN376YN3RU3H1HW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.37316, + 3.88633, + 3.26065 + ], + "start_rotation": [ + 0, + 0.81109, + 0, + -0.58492 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 23.18352, + "euclidean_distance": 15.37795, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.12968, + 0.24963, + -3.53707 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3B2X28YI3YI5JWVSTH9R78RA71SB6O", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.1946, + 3.88633, + 2.57985 + ], + "start_rotation": [ + 0, + 0.4882, + 0, + 0.87273 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.41345, + "euclidean_distance": 15.10105, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.12293, + 3.4239, + 7.23884 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3U84XHCDIEGNM7UUG7WFWSEZ2CSZ4F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 15.00861, + -0.19984, + -0.88318 + ], + "start_rotation": [ + 0, + 0.16221, + 0, + 0.98676 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 26.25711, + "euclidean_distance": 24.44792, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.11681, + -0.31367, + -5.33902 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "193d45e0b5d842e69acc5813e478f614", + "path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3CN4LGXD5ZRNHHKPKLUWIL5XWJ54YC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.48961, + 3.88633, + 1.02146 + ], + "start_rotation": [ + 0, + 0.88507, + 0, + -0.46546 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 23.21172, + "euclidean_distance": 10.67732, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.37066, + 3.48633, + -5.75212 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3K3R2QNK8D67XE6WRFTYW8A0MN5U9X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.86696, + 3.96969, + 3.87014 + ], + "start_rotation": [ + 0, + 0.95063, + 0, + 0.31033 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.51035, + "euclidean_distance": 12.38843, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.76503, + 3.48633, + 8.1754 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3RANCT1ZVHKQL7LTPZ7UNE5QAN6UB5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.69826, + 3.28633, + 2.66456 + ], + "start_rotation": [ + 0, + 0.66152, + 0, + 0.74993 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.7612, + "euclidean_distance": 7.1125, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.05207, + 0.29466, + -3.46164 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "cc6552274d7e482cbd3bf904d5754203", + "path": [ + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "refined_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3OLF68YTNB4WJFJBOWCZ63KHIHVFAJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.5448, + 6.68633, + 3.07899 + ], + "start_rotation": [ + 0, + 0.45566, + 0, + -0.89016 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.12067, + "euclidean_distance": 5.00486, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.85736, + 6.68633, + 5.4108 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "d547331b610244018371be43294f36c1", + "path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f" + ], + "refined_path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1" + ], + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + [ + "700e564b1a6f4ae2a7a230639c9f2b7f" + ] + ] + }, + { + "episode_id": "A314XJY8V1YL12:30H4UDGLT4L9CTHUZ2Y9ROTLE56MPE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.07967, + -0.31367, + -1.10734 + ], + "start_rotation": [ + 0, + 0.92767, + 0, + -0.37339 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.65783, + "euclidean_distance": 8.12744, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.79028, + -0.31367, + 6.94028 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "7bb74d11234146b19b211e4b1c319cbf", + "path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_238_newN_0", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_83_newN_1", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "cc6552274d7e482cbd3bf904d5754203", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:39GAF6DQWT3PLOS1SSOADOU02HAV1W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.17589, + -0.05944, + 0.61271 + ], + "start_rotation": [ + 0, + 0.71078, + 0, + 0.70342 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.52072, + "euclidean_distance": 5.18264, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.27578, + 3.48633, + -2.9665 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_450_newN_0", + "path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3XIQGXAUMEBV0ZCYHN612JIYLFMX74", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.96094, + 3.28633, + 4.6743 + ], + "start_rotation": [ + 0, + 0.06046, + 0, + -0.99817 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.80334, + "euclidean_distance": 8.34699, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.38748, + 3.28633, + 5.65548 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3M68NM076JASZ3CHPEVH7NWEPNQ6RR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.10209, + -0.31367, + -13.45767 + ], + "start_rotation": [ + 0, + 0.81159, + 0, + -0.58423 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.18991, + "euclidean_distance": 18.58021, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.8255, + -0.28936, + -6.08638 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b9dbbef4ae9a4646ba247cf476b1baeb", + "path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_367_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "fb7e82f5b99340eabb9a579772176b33", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3YHH42UU5DIMIUVPI5I4CADO6SB0LQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.23019, + 3.88633, + 4.20885 + ], + "start_rotation": [ + 0, + 0.7286, + 0, + 0.68494 + ], + "object_category": "table", + "info": { + "geodesic_distance": 22.33609, + "euclidean_distance": 20.64948, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.31918, + 3.28633, + 6.05277 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3Z4XG4ZF4AUZ0DHHRSY7GJETWYT8X1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.21029, + 3.88633, + 1.3404 + ], + "start_rotation": [ + 0, + 0.66245, + 0, + 0.74911 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 21.44681, + "euclidean_distance": 20.25416, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.14715, + 3.42484, + 7.33223 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3A7Y0R2P2QROKUD0IWVY59N7C9JXJ6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.76057, + -0.31367, + 1.96584 + ], + "start_rotation": [ + 0, + 0.19267, + 0, + 0.98126 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.07066, + "euclidean_distance": 6.45611, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.30744, + -0.31367, + 1.0838 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WMINLGALD6PG3Z1XUMYYXZEL5GACI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.99538, + 6.68633, + 10.05113 + ], + "start_rotation": [ + 0, + 0.99838, + 0, + 0.05685 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.01282, + "euclidean_distance": 3.22427, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.36273, + 6.68633, + 6.75696 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:39K0FND3AJI2PPBSAJGC1T4QFI8AMM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.88794, + 3.92656, + 2.31863 + ], + "start_rotation": [ + 0, + 0.49139, + 0, + -0.87094 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.96183, + "euclidean_distance": 6.45284, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.76846, + 3.28633, + 4.12171 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DR23U6WE7H9SXIOZLJAJQP9U5VTEU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.53444, + -0.31367, + 9.2134 + ], + "start_rotation": [ + 0, + 0.90535, + 0, + -0.42466 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.8476, + "euclidean_distance": 17.66718, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.03809, + -0.31367, + -6.69489 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3KMS4QQVK4T2VSSX0NPO0HNDNU2KFI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.79112, + 3.88633, + 3.4213 + ], + "start_rotation": [ + 0, + 0.14003, + 0, + -0.99015 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 28.02353, + "euclidean_distance": 25.98253, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.66465, + 3.48633, + 8.08214 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:31QTRG6Q2VG96A68I5MKLJGSNFCPYZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.4474, + -0.78599, + 2.04205 + ], + "start_rotation": [ + 0, + 0.81931, + 0, + 0.57335 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.31619, + "euclidean_distance": 9.49625, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.27384, + -0.31367, + 4.50187 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0_edge_86_newN_1", + "path": [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "refined_path": [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:326O153BMK12B8MRDVJVEM7NRJ5DET", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.21556, + 6.68633, + 3.758 + ], + "start_rotation": [ + 0, + 0.76719, + 0, + -0.64142 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.99044, + "euclidean_distance": 3.56625, + "closest_goal_object_id": 539, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.1975, + 6.68633, + 7.26956 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "2142035ff0ff419f81fed8875fccf577", + "path": [ + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "refined_path": [ + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3J88R45B2I1K65GYD90I259JL8QXP7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.98522, + 3.48633, + -4.75544 + ], + "start_rotation": [ + 0, + 0.76399, + 0, + 0.64522 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 28.1396, + "euclidean_distance": 7.7406, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.71229, + 0.11665, + 0.14352 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "f71c7ed84bc34651a65dd51ba28cab4b", + "path": [ + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:39RP059MEJW78ZGKGXG8W4OWX1VMBX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.63548, + 0.08633, + -2.87526 + ], + "start_rotation": [ + 0, + 0.55977, + 0, + 0.82864 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.47726, + "euclidean_distance": 6.34081, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.25654, + 3.48633, + -2.94906 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "b0ed9edb0520444da200f5f5c1f92e4c", + "path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "446fe55778194ebd962d419067cede1a", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_99_newN_0", + "6aca4da5a7974141b5179106e1becd66", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "6aca4da5a7974141b5179106e1becd66", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + [ + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721" + ], + "d12a35cb161641318a92f9e5dd8915db", + [ + "1e87a0b7776d48c7a05569b182f8c3a4" + ], + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + [ + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db" + ], + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + [ + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:31N2WW6R9TTWZUKQFHXPJV6BC8WF3I", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 20.06934, + -0.71367, + 4.99029 + ], + "start_rotation": [ + 0, + 0.62698, + 0, + 0.77903 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.6206, + "euclidean_distance": 10.81149, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.26397, + -0.31367, + 4.51203 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:33C7UALJVN1RACWOKZD0LAASRJ5810", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.17191, + 3.88633, + 1.50088 + ], + "start_rotation": [ + 0, + 0.10202, + 0, + -0.99478 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 26.85178, + "euclidean_distance": 18.18301, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.09378, + 0.25966, + -3.55039 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + [ + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3RUIQRXJBDRZFQKB7Y4NAU5C9PJLLF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.97193, + -0.31367, + -5.82238 + ], + "start_rotation": [ + 0, + 0.64778, + 0, + -0.76182 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.45477, + "euclidean_distance": 19.06856, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.18681, + -0.31367, + -5.54835 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "6aca4da5a7974141b5179106e1becd66", + "path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "0_edge_133_newN_1", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3TR2532VIRXB1FT4H9M85WANEX56JP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.59323, + 0.22596, + 5.44699 + ], + "start_rotation": [ + 0, + 0.77074, + 0, + 0.63714 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.51191, + "euclidean_distance": 13.77751, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.81682, + -0.27633, + -6.10878 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d9b3b2d4da2e421ab0bf916e8aef3512", + "path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "f5d15314913f4453aca1219437398794", + "0_edge_83_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + [ + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1" + ], + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:35GMH2SV3GKTF5DG34XBPGJMVRPOE2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.24326, + 4.01462, + 4.88941 + ], + "start_rotation": [ + 0, + 0.8268, + 0, + -0.5625 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.35962, + "euclidean_distance": 15.60206, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.32243, + 3.28633, + 5.6669 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3D8YOU6S9GNKFV4YT8QMCYJYVCX6UD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.57294, + -0.31367, + -14.07141 + ], + "start_rotation": [ + 0, + 0.87958, + 0, + -0.47575 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 15.30818, + "euclidean_distance": 13.02531, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.96053, + -0.29565, + -6.38698 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "789db63b2d704e95a468bf4e6332d8f9", + "path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3MYYFCXHJ5ANVQZPQF8QBLYTRGD4GY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.85766, + 3.48633, + -7.26625 + ], + "start_rotation": [ + 0, + 0.07799, + 0, + -0.99695 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.68745, + "euclidean_distance": 5.09452, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.25002, + 3.48645, + -9.96197 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "33a824661ad34d9391d80d87485b5356", + "path": [ + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3VA45EW49PQUV4J4RG2WIW0S5DIO15", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.64754, + 3.88633, + 3.15515 + ], + "start_rotation": [ + 0, + 0.78954, + 0, + 0.6137 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 25.74339, + "euclidean_distance": 24.05862, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06727, + 3.41404, + 7.18458 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "0_edge_450_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "241fde907a674d6ca8916fd2beec6dfc", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "241fde907a674d6ca8916fd2beec6dfc", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3FE2ERCCZZBXCW26CIDMJSIQ8U2OPP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.11089, + 3.48633, + -0.78145 + ], + "start_rotation": [ + 0, + 0.74903, + 0, + 0.66253 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.07928, + "euclidean_distance": 10.1948, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.82326, + 3.28633, + 5.69462 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "bacef43d28c74751a7bd62578d443053", + "path": [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33FBRBDW6Q2BXF6M0W2K26TJU6IC8V", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.7048, + 3.88633, + 4.76933 + ], + "start_rotation": [ + 0, + 0.71381, + 0, + 0.70034 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.12425, + "euclidean_distance": 16.84781, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.08825, + 3.28633, + 4.54742 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3137ONMDKI85NSWIFLK3K7AK44TGE0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.90496, + 3.88633, + 4.44622 + ], + "start_rotation": [ + 0, + 0.25204, + 0, + 0.96772 + ], + "object_category": "table", + "info": { + "geodesic_distance": 13.46864, + "euclidean_distance": 11.36086, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.30862, + 3.28633, + 6.03649 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:32Z9ZLUT1NN5ZF4IT55HAJGZN7XOHY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.31952, + 3.88633, + -0.61527 + ], + "start_rotation": [ + 0, + 0.23412, + 0, + -0.97221 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 21.16189, + "euclidean_distance": 20.0857, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.82694, + 3.28633, + 5.7133 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3BXQMRHWK11M4YPQGOX31UGKMH5UMF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.8929, + -0.31367, + -4.39804 + ], + "start_rotation": [ + 0, + 0.90538, + 0, + -0.42459 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.73348, + "euclidean_distance": 6.42599, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.70764, + -0.31367, + -2.57771 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3JAOYWH7VK74EOJ2I11X5LEH9P89L0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.84042, + 3.91412, + 5.81616 + ], + "start_rotation": [ + 0, + 0.2448, + 0, + 0.96957 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 27.70635, + "euclidean_distance": 25.57448, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.79067, + 3.28633, + 5.71348 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3J4Q2Z4UT06QHHCN3HJL0RLMHY1WQR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.12805, + -0.31367, + 0.47334 + ], + "start_rotation": [ + 0, + 0.52256, + 0, + -0.8526 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.64529, + "euclidean_distance": 4.40077, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.38836, + -0.31367, + 4.52819 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3KOPY89HMA5C4W6MY7OAYTY341O3JR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.9431, + -0.31367, + -9.53156 + ], + "start_rotation": [ + 0, + 0.91479, + 0, + -0.40392 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.33643, + "euclidean_distance": 8.176, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.17356, + -0.31367, + -13.60596 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "858ce8552a0a40b686b4de4bc9eec65c", + "path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "0_edge_76_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0" + ], + "refined_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_76_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3AQF3RZ55ALVWD78YJVNQYIVMTK6FP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.96836, + -0.31367, + -0.78743 + ], + "start_rotation": [ + 0, + 0.92051, + 0, + -0.39073 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 23.7719, + "euclidean_distance": 21.48144, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.17585, + -0.31367, + -5.33803 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:3YMU66OBIPBH72NK5MS95A7XVI4GHU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.99749, + -0.31367, + 1.97273 + ], + "start_rotation": [ + 0, + 0.89441, + 0, + 0.44724 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 22.9878, + "euclidean_distance": 20.65752, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.03534, + -0.23331, + -6.20015 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_438_newN_0", + "path": [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + [ + "0_edge_438_newN_0" + ], + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1" + ], + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:35USIKEBNTJ7K5KPW7E0Y3R4OJB6NZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.49727, + 3.35381, + 2.70758 + ], + "start_rotation": [ + 0, + 0.9947, + 0, + 0.10284 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.57034, + "euclidean_distance": 13.16789, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.31624, + 3.28633, + 5.62115 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + [ + "1bd459f9e678429b95ffbda52efa657b" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3XCC1ODXDNEL9LV14N9FDSD5PH0QRS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.91402, + -0.31367, + 7.79384 + ], + "start_rotation": [ + 0, + 0.14763, + 0, + 0.98904 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 23.60527, + "euclidean_distance": 22.25576, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.29583, + 0.08633, + -3.18932 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "9dbeee64e93347bea1a127a7cb3eea03", + "path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf" + ], + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AD15OW944ZV20:333U7HK6IBIAMO8JRWUMB2KFVISJDS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 13.06133, + -0.31367, + 0.6611 + ], + "start_rotation": [ + 0, + 0.84296, + 0, + -0.53798 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 25.56024, + "euclidean_distance": 22.87996, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.20238, + -0.31367, + -5.24841 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "90dcb8a526504454b728d3f7951f153f", + "0_edge_135_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b54868e8037048d08f1208b26e887005", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + [ + "b1ce0ca7853d4889ad9313a89b8150ac" + ], + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + [ + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3DYGAII7PNB0X8FMRV5Q8XDQOZDPQ0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.16121, + 3.88633, + 4.47668 + ], + "start_rotation": [ + 0, + 0.82545, + 0, + -0.56447 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 15.79699, + "euclidean_distance": 13.60448, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.11811, + 3.42511, + 7.19116 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3S96KQ6I9O740R4O3Q8QD87OUMUDT7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.98408, + 4.08633, + 5.36277 + ], + "start_rotation": [ + 0, + 0.74095, + 0, + -0.67157 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 24.61145, + "euclidean_distance": 23.26306, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.17636, + 3.48633, + -2.90693 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39ASUFLU6ZAG9ER84VK78TAF7X3EXA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.11615, + -0.31367, + -0.13194 + ], + "start_rotation": [ + 0, + 0.19218, + 0, + -0.98136 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 24.23323, + "euclidean_distance": 13.28357, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.18685, + 3.48633, + -2.97995 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "cc6552274d7e482cbd3bf904d5754203", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:38F5OAUN5PFYE9CJCJOFZXU4WEF7HA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.70519, + 3.88633, + 5.90551 + ], + "start_rotation": [ + 0, + 0.94101, + 0, + 0.33837 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 24.15098, + "euclidean_distance": 16.99268, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.13378, + 0.24068, + -3.63297 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + [ + "f48b2bf8bcc64c3ca36d4190669f333a" + ], + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + [ + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "60434c00433b4438912eebe9bd2c6984" + ], + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3CPLWGV3MQ2U2OMNUEHCIDI6EJ99N1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.18829, + 3.88633, + 4.71991 + ], + "start_rotation": [ + 0, + 0.83912, + 0, + 0.54395 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 26.42452, + "euclidean_distance": 24.38249, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.08292, + 3.42125, + 7.06231 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3ZY8KE4ISL6D2SCID7EPEP289GVVQT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.65761, + 3.28633, + 3.47201 + ], + "start_rotation": [ + 0, + 0.90391, + 0, + 0.42773 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.95499, + "euclidean_distance": 2.51276, + "closest_goal_object_id": 363, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -5.08541, + 3.48633, + 2.52142 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3E1QT0TDFRC2AISMS6Y6D9RE8IB8IH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.54034, + 3.48633, + -10.30905 + ], + "start_rotation": [ + 0, + 0.89435, + 0, + 0.44738 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.65876, + "euclidean_distance": 5.06978, + "closest_goal_object_id": 398, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.90814, + 3.48633, + -7.77197 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "70be058041854ca4bcfae120bfb3fba0", + "path": [ + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:36W0OB37HYHHYJIPVEGYQHN37AHZHQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.20878, + 3.88633, + 5.72619 + ], + "start_rotation": [ + 0, + 0.02011, + 0, + -0.9998 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 19.18163, + "euclidean_distance": 16.1521, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.72272, + 3.48633, + 8.12493 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Z7VU45IP0K6U8XBTPDDYU7WPJFZ1G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.59921, + -0.31367, + 5.91389 + ], + "start_rotation": [ + 0, + 0.74529, + 0, + 0.66674 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.94637, + "euclidean_distance": 3.75458, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.91016, + -0.31367, + 5.38738 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "4486a4f9a25742c98cdd93b72fb3220e", + "path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "refined_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + [ + "60ddff235ac44416b783febc3fa613b6" + ], + "0_edge_278_newN_0", + "0_edge_341_newN_0", + [ + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0" + ], + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3SPJ0334236DKZ3ANSH0ONUGD2DJY7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.74659, + -0.31367, + 1.25423 + ], + "start_rotation": [ + 0, + 0.16256, + 0, + 0.9867 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.2313, + "euclidean_distance": 5.2827, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.31292, + -0.30427, + 5.9598 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LS2AMNW5HTIC83LCVSBJX80DN4OQQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.93049, + 3.34845, + 7.64034 + ], + "start_rotation": [ + 0, + 0.38428, + 0, + -0.92322 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.79067, + "euclidean_distance": 2.6184, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.72384, + 3.28633, + 5.65516 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "16897e2c8dbd48c3a44997dad1c3801f", + "path": [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3R0T90IZ1UFQQUC4JUE8UJAHIPICGY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.77665, + 3.88633, + 8.22435 + ], + "start_rotation": [ + 0, + 0.91627, + 0, + -0.40057 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 28.06514, + "euclidean_distance": 21.54075, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.63867, + 3.48633, + 8.08267 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "c2f4ac1cd281454d80acbc4d79c12aef", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3VE8AYVF8O0I0RQWRYSLACEMSMZ8FY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.09529, + 6.68633, + 0.33565 + ], + "start_rotation": [ + 0, + 0.36908, + 0, + 0.9294 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.66188, + "euclidean_distance": 5.23471, + "closest_goal_object_id": 493, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.43198, + 6.8646, + 0.45764 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "890c5356b4da4a418e223fc9e366bf89", + "path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1" + ], + "refined_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + [ + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + [ + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + [ + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3OVR4I9USRME8FT3TBD25Z2VX21Q4S", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.39632, + 3.48633, + -9.0186 + ], + "start_rotation": [ + 0, + 0.18803, + 0, + -0.98216 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.50662, + "euclidean_distance": 4.61531, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.87201, + 3.56413, + -10.24043 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "45eac43ea9054cbbaa91863a5aa202fa", + "path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "refined_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ] + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3RJSC4XJ12X8G5S4QI2XVLHRJSJ50U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.58813, + -0.86335, + 6.83767 + ], + "start_rotation": [ + 0, + 0.16601, + 0, + -0.98612 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.04337, + "euclidean_distance": 9.82132, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 10.17963, + -0.31367, + 3.79993 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3LQ8PUHQFNVV3TTFVASCQMKDB16HIA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.12333, + 6.68633, + 3.52671 + ], + "start_rotation": [ + 0, + 0.89799, + 0, + -0.44001 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.768, + "euclidean_distance": 5.53465, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.16639, + 6.68633, + 8.38424 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "a96b308a64c147fabbfbbf4916afb091", + "path": [ + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be" + ], + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091" + ], + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3K772S5NPAEJNORTZR2L57MLJ8YEHX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.75942, + 3.88633, + 1.11875 + ], + "start_rotation": [ + 0, + 0.56813, + 0, + -0.82294 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.67664, + "euclidean_distance": 6.99621, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.00313, + 0.28685, + -3.57509 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A75XDPFNICR3T:34S9DKFK75S93PUV2Q9SHUBXNVIYN9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.96391, + 0.28633, + 8.06351 + ], + "start_rotation": [ + 0, + 0.98959, + 0, + 0.1439 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 22.12363, + "euclidean_distance": 16.34662, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.8674, + -0.26702, + -6.12913 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512" + ], + "b31ae8536d72434ea33243b17fc0dee0", + [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3TK8OJTYM3OS2GB3DUZ0EKCY5QCPVC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.74082, + -0.31367, + 9.72606 + ], + "start_rotation": [ + 0, + 0.80581, + 0, + 0.59218 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 15.49929, + "euclidean_distance": 13.33236, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.42743, + -0.31367, + -2.46263 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "67bfc67489fc45be8e7dcb8b637c566d", + "path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ], + "refined_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + [ + "60ddff235ac44416b783febc3fa613b6" + ], + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3O6CYIULEF4I9AJ4KQ3QASIBJA3UW7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.61099, + -0.31367, + 3.06303 + ], + "start_rotation": [ + 0, + 0.99737, + 0, + -0.07251 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.17378, + "euclidean_distance": 2.91854, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.31446, + -0.31003, + 5.91531 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "09c10c580a0e4b4cb4f6f9445c4509e0", + "path": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + [ + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NGI5ARFTV8CG4V56GFB7W5IGPRP1F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.22449, + -0.31367, + -4.01687 + ], + "start_rotation": [ + 0, + 0.51546, + 0, + 0.85692 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.67521, + "euclidean_distance": 16.71714, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.53264, + 0.08633, + -3.20145 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3DIP6YHAPEVQUDQ0WN8FSUTMGOQE8Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.23987, + -0.31367, + -0.90002 + ], + "start_rotation": [ + 0, + 0.09747, + 0, + 0.99524 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.71967, + "euclidean_distance": 13.02555, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.05621, + -0.31367, + -5.11327 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "bdc130b620914d8aa178fd0e21f27c10", + "path": [ + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:386CSBG1O1PSN2XHCZ6H2XM9SPKQ6H", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.80694, + 3.88633, + 7.70644 + ], + "start_rotation": [ + 0, + 0.99579, + 0, + -0.09162 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 28.65117, + "euclidean_distance": 25.14298, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.1012, + 3.28633, + 4.65149 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3QUO65DNQWRA41A2T4CGTY5PHG0UO8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.78912, + 4.03551, + 4.24132 + ], + "start_rotation": [ + 0, + 0.99946, + 0, + 0.03273 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 15.00717, + "euclidean_distance": 12.6265, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.77866, + 3.28633, + 5.73875 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3Y4W8Q93L1NJDJ8D8L85EQV9RB8VDB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.82053, + -0.31367, + 10.05832 + ], + "start_rotation": [ + 0, + 0.18444, + 0, + -0.98284 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.83816, + "euclidean_distance": 3.42766, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 10.43554, + -0.31367, + 6.969 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "67bfc67489fc45be8e7dcb8b637c566d", + "path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6" + ], + "refined_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + [ + "60ddff235ac44416b783febc3fa613b6" + ], + "0_edge_425_newN_0", + [ + "60ddff235ac44416b783febc3fa613b6" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3ZV9H2YQQFAYAG6L567PNJSB6XQW38", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 20.2478, + -0.83795, + -2.49053 + ], + "start_rotation": [ + 0, + 0.63336, + 0, + -0.77385 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.87098, + "euclidean_distance": 2.60447, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 20.94469, + -0.91367, + 0.11367 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "b682278fff3c4478b2f6e2012e31fd18", + "path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2" + ], + "refined_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OWEPKL08BFQO5YUFHJS4HR0JVX7N3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.46019, + 3.88633, + 5.29147 + ], + "start_rotation": [ + 0, + 0.75667, + 0, + 0.6538 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 15.90429, + "euclidean_distance": 14.77359, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.69031, + 3.28633, + 4.04252 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507" + ], + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d" + ], + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3TMFV4NEPAHKBDCRHN2LE00MMNEW84", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.85563, + 6.88633, + 0.78984 + ], + "start_rotation": [ + 0, + 0.55639, + 0, + 0.83092 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.68772, + "euclidean_distance": 8.53866, + "closest_goal_object_id": 598, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.12225, + 6.68633, + -7.31587 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_282_newN_1", + "path": [ + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36ZN444YTT15VAF2ZNN2AVHENN9OIU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.70039, + 6.73206, + -1.10012 + ], + "start_rotation": [ + 0, + 0.03821, + 0, + 0.99927 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.75953, + "euclidean_distance": 4.53037, + "closest_goal_object_id": 594, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.13425, + 6.68633, + -3.31783 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_282_newN_0", + "path": [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "890c5356b4da4a418e223fc9e366bf89" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89" + ], + "refined_path": [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + [ + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "890c5356b4da4a418e223fc9e366bf89" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3LRLIPTPESC7Z1BPP73WMGCMP2EAKV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.13633, + 0.11403, + -1.10276 + ], + "start_rotation": [ + 0, + 0.9981, + 0, + 0.06158 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 12.83967, + "euclidean_distance": 8.52864, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.8472, + -0.26421, + -6.13256 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "976a7a79035a4583a10624453174d94e", + "path": [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "AG9LMLEPXP2YC:3D3VGR7TA2IT2KPZ6CXJ0KKUFR43RO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.62532, + -0.31367, + -12.12059 + ], + "start_rotation": [ + 0, + 0.98506, + 0, + -0.1722 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.84001, + "euclidean_distance": 3.57752, + "closest_goal_object_id": 115, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.74952, + -0.31367, + -9.07131 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0d600d9a62be462ca3aa8e9c77d07d5a", + "path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "0a3c3886d45044949211b0d0f243b720", + "736a864f92174a1facfc05a0eb246091" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091" + ], + "refined_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0" + ], + "736a864f92174a1facfc05a0eb246091" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3YOH7BII0BARRPEN02USI3QZBKYKV6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.54567, + -0.31367, + 1.48701 + ], + "start_rotation": [ + 0, + 0.68638, + 0, + -0.72724 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.23433, + "euclidean_distance": 4.5728, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.37707, + -0.31367, + 5.94352 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "0_edge_438_newN_1", + "path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31LM9EDVONVJ80ZWGQ8P77W99LDJNR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.51567, + -0.31367, + 4.30279 + ], + "start_rotation": [ + 0, + 0.86445, + 0, + -0.50272 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.95935, + "euclidean_distance": 15.8448, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.31939, + 0.08633, + -3.2326 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "454f883454684daf86530a34b6d007f4", + "path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3KV0LJBBH4OUO6X9CU2YWJT0FFQRMR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.85823, + 6.68633, + 0.97278 + ], + "start_rotation": [ + 0, + 0.29117, + 0, + -0.95667 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.15455, + "euclidean_distance": 6.48487, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.80308, + 6.68633, + 5.53515 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "b02ebc952fcf4ff0942c56b2b3251b44", + "path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "0_edge_128_newN_1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f" + ], + "refined_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + [ + "700e564b1a6f4ae2a7a230639c9f2b7f" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3KB8R4ZV1GA7GPKY5UIDJZ4Z19TGBH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.56742, + -0.31367, + -2.00411 + ], + "start_rotation": [ + 0, + 0.98952, + 0, + -0.1444 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 19.79057, + "euclidean_distance": 8.78011, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.27299, + 3.48633, + -2.92957 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "fd22cb9d82364bbdb6ea4fdb051a7721", + "path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "7bb74d11234146b19b211e4b1c319cbf" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3KGTPGBS6ZOWXULX66EJML2MF752U2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.25434, + 6.86329, + 0.31312 + ], + "start_rotation": [ + 0, + 0.26234, + 0, + 0.96498 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.39749, + "euclidean_distance": 8.80037, + "closest_goal_object_id": 528, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.54617, + 6.68633, + 7.06116 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "0_edge_365_newN_0", + "path": [ + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "2e532d8410fd4761b8166eedc0470347", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + [ + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3E7TUJ2EGEPLGCVA5K39M86C0JH9D1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.31178, + 6.68633, + -2.52924 + ], + "start_rotation": [ + 0, + 0.03266, + 0, + 0.99947 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 15.68922, + "euclidean_distance": 11.35486, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.10063, + 6.68633, + 8.43892 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "4ed0dc66de83415196cb59d120b71d55", + "path": [ + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + [ + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3RRCEFRB7OFR49REATGCAA7WAW5B4T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.2577, + 3.88633, + -0.46056 + ], + "start_rotation": [ + 0, + 0.85576, + 0, + -0.51737 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 20.09844, + "euclidean_distance": 19.03092, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.68155, + 3.28633, + 5.65614 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3T3IWE1XG8QYP08T8CEAD7ENCXWTQW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.44871, + 3.28633, + 3.33852 + ], + "start_rotation": [ + 0, + 0.06979, + 0, + -0.99756 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 17.88083, + "euclidean_distance": 14.37961, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.90805, + 3.56962, + -10.23428 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "0_edge_46_newN_1", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "dbef8aac0198493597e8e5aec0de17cb", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb" + ], + "dbef8aac0198493597e8e5aec0de17cb", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984" + ], + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + [ + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:324G5B4FB5BN396NEBHUT5VNAYS07I", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.02611, + 7.28633, + -0.58292 + ], + "start_rotation": [ + 0, + 0.59437, + 0, + 0.80419 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.94264, + "euclidean_distance": 2.75709, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.68883, + 6.7006, + -1.19451 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "c130d4a1cbb642c0b7fc079969f2d6fd", + "path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "refined_path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ] + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3Y9N9SS8L0EZ1A6UOB2ZVV3QZJP3DF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.27734, + -0.31367, + -8.85738 + ], + "start_rotation": [ + 0, + 0.80802, + 0, + -0.58916 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.93652, + "euclidean_distance": 8.92615, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.30115, + 3.48633, + -2.92558 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3ZV9H2YQQFAYAG6L567PNJSB6XQ3WF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.46703, + 3.88633, + 8.32818 + ], + "start_rotation": [ + 0, + 0.48397, + 0, + -0.87508 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 28.66652, + "euclidean_distance": 22.3522, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.78674, + 3.28633, + 5.72042 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3Z9WI9EOZ1RM9OJ3VDDO32ZQ33OKHD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.04607, + 4.08589, + 0.03707 + ], + "start_rotation": [ + 0, + 0.90537, + 0, + 0.42463 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 16.08655, + "euclidean_distance": 13.95417, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.12738, + 3.28633, + 4.62722 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0" + ], + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d" + ], + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3I33IC7ZWH5CIL7Z01XSMKQS82T2A2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.06874, + 3.23496, + -2.61186 + ], + "start_rotation": [ + 0, + 0.75548, + 0, + -0.65518 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.67286, + "euclidean_distance": 8.4068, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.12271, + -0.31367, + 2.09854 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "3c8b0995c325481a85ad4648931e5fde", + "path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "cc6552274d7e482cbd3bf904d5754203", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3BC8WZX3V5ZLLMA1H2YFIINAL40RRU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.50041, + 3.90099, + 6.71214 + ], + "start_rotation": [ + 0, + 0.10391, + 0, + 0.99459 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 28.55723, + "euclidean_distance": 24.88712, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.28032, + 3.48633, + -10.29326 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + [ + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33LKR6A5KGNA8WOCNXOVC66F4LW1T1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.21784, + -0.31367, + 2.675 + ], + "start_rotation": [ + 0, + 0.92456, + 0, + 0.38103 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 22.35003, + "euclidean_distance": 18.98404, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.09934, + -0.31367, + -5.20077 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "09c10c580a0e4b4cb4f6f9445c4509e0", + "path": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886", + "90dcb8a526504454b728d3f7951f153f", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "c2f4ac1cd281454d80acbc4d79c12aef", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QXNC7EIPKYRHSUGT8FE71MT6T3901", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.00398, + -0.31367, + -3.03007 + ], + "start_rotation": [ + 0, + 0.77421, + 0, + 0.63293 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.28481, + "euclidean_distance": 2.24849, + "closest_goal_object_id": 109, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.99959, + -0.31367, + -2.21497 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3LRLIPTPESC7Z1BPP73WMGCMP3MAK5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.9843, + -0.31367, + -9.19503 + ], + "start_rotation": [ + 0, + 0.06828, + 0, + 0.99767 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.90162, + "euclidean_distance": 9.29185, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.95681, + -0.31367, + -6.70857 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "f5d15314913f4453aca1219437398794", + "path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0" + ], + "refined_path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3KAKFY4PGW5G9LMGGP3AMSJ3RPJI3K", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.11509, + -0.85595, + 5.96285 + ], + "start_rotation": [ + 0, + 0.09344, + 0, + 0.99563 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 19.69307, + "euclidean_distance": 17.70762, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.65883, + -0.31367, + -2.70332 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "9dbeee64e93347bea1a127a7cb3eea03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "9dbeee64e93347bea1a127a7cb3eea03", + [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EQHHY4HQUV5R93P4KR0GD47RDEG5N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.8736, + 6.68633, + -1.08028 + ], + "start_rotation": [ + 0, + 0.02565, + 0, + -0.99967 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.7114, + "euclidean_distance": 6.41691, + "closest_goal_object_id": 500, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.76507, + 6.73055, + 2.25528 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "0_edge_126_newN_1", + "path": [ + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "refined_path": [ + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3TOK3KHVJVL86QY6GWJ5J6R594P7O3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.60933, + 6.68633, + 4.63703 + ], + "start_rotation": [ + 0, + 0.42598, + 0, + 0.90473 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.94049, + "euclidean_distance": 8.72344, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.10671, + 6.69994, + -1.09784 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_42_newN_0", + "path": [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:39O5D9O87VVPWI0GOF7OBPL8EL0C3F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.14337, + 6.78812, + 0.93987 + ], + "start_rotation": [ + 0, + 0.07742, + 0, + -0.997 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.84384, + "euclidean_distance": 4.47033, + "closest_goal_object_id": 594, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.34436, + 6.68633, + -3.46858 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "b02ebc952fcf4ff0942c56b2b3251b44", + "path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "2142035ff0ff419f81fed8875fccf577", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "2142035ff0ff419f81fed8875fccf577", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "2142035ff0ff419f81fed8875fccf577", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3R3YRB5GRH6L2XG1JL7YS3LKS00AUV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.64032, + -0.31367, + -0.52612 + ], + "start_rotation": [ + 0, + 0.99887, + 0, + 0.04755 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.93834, + "euclidean_distance": 5.39632, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.22814, + 3.48633, + -3.03457 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_133_newN_1", + "path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:30BUDKLTXFY77V7YYP1CGAJVEWQE5T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.86339, + 6.88633, + -3.2063 + ], + "start_rotation": [ + 0, + 0.54203, + 0, + -0.84036 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.32752, + "euclidean_distance": 3.22823, + "closest_goal_object_id": 593, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.97887, + 6.68633, + -4.77208 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "40bd5db3c01e445d903b58f86beaf72a", + "path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "ef22fd41921142d4a36d6354d2e10d23", + "4ed0dc66de83415196cb59d120b71d55" + ], + "refined_path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + [ + "ef22fd41921142d4a36d6354d2e10d23", + "4ed0dc66de83415196cb59d120b71d55" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3P59JYT76NNHXH6861O9HPGKXXTT26", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.81656, + 6.68633, + 1.5471 + ], + "start_rotation": [ + 0, + 0.44706, + 0, + 0.8945 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 16.19501, + "euclidean_distance": 9.89353, + "closest_goal_object_id": 589, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.78491, + 6.68633, + -7.25343 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "b02ebc952fcf4ff0942c56b2b3251b44", + "path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "refined_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3P4RDNWND79RUZO5JAVX2Z0SNLSIJH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.90296, + 3.88633, + 5.55346 + ], + "start_rotation": [ + 0, + 0.8602, + 0, + 0.50995 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 17.43276, + "euclidean_distance": 14.64261, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.82805, + 3.28633, + 5.68638 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3IJXV6UZ1ZM8SN7IRF464QMJX3KIR9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.91157, + -0.31367, + 1.68095 + ], + "start_rotation": [ + 0, + 0.90093, + 0, + -0.43397 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 18.9486, + "euclidean_distance": 15.9629, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.87461, + -0.2629, + -6.13697 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_290_newN_0", + "path": [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "b54868e8037048d08f1208b26e887005", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + [ + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "AMX5R6NLYNA2K:33CID57106WIZMUM1S0NE8BV90A3LV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.48698, + -0.31367, + 2.02463 + ], + "start_rotation": [ + 0, + 0.44051, + 0, + 0.89775 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 17.17823, + "euclidean_distance": 14.4581, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.83828, + -0.31367, + -6.70783 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "0_edge_290_newN_0", + "path": [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b54868e8037048d08f1208b26e887005", + "0_edge_450_newN_0", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0" + ], + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3O6CYIULEF4I9AJ4KQ3QASIBJEIWUW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.83743, + 6.68633, + 3.84404 + ], + "start_rotation": [ + 0, + 0.98389, + 0, + 0.1788 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.19041, + "euclidean_distance": 2.01723, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.4405, + 6.69303, + 1.97947 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "a96b308a64c147fabbfbbf4916afb091", + "path": [ + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + [ + "a96b308a64c147fabbfbbf4916afb091" + ], + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be" + ], + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3QEMNNSB2Z2H2T7HQN5P8CF64NT7DA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.12364, + -0.31367, + -14.16227 + ], + "start_rotation": [ + 0, + 0.96675, + 0, + 0.25573 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.94753, + "euclidean_distance": 11.21388, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.92403, + -0.31367, + -6.34743 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "path": [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_367_newN_2", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + [ + "0_edge_25_newN_1" + ], + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63" + ], + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3AMW0RGHOF5FUB2UB3D943ILJQCPN3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.05952, + -0.31367, + -6.78424 + ], + "start_rotation": [ + 0, + 0.97008, + 0, + 0.24278 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.62796, + "euclidean_distance": 7.60974, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.60066, + -0.31367, + -14.34469 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_99_newN_0", + "path": [ + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "refined_path": [ + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3FTF2T8WLTLKPIV1MF8ZEWVX7XB9WU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.58688, + 3.48633, + -3.65653 + ], + "start_rotation": [ + 0, + 0.98869, + 0, + -0.14995 + ], + "object_category": "table", + "info": { + "geodesic_distance": 10.37, + "euclidean_distance": 8.12252, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.31174, + 3.49387, + -9.99607 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "599f73b398ef4e738aae7f557c0b35c6", + "path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3VELCLL3GMM0PR6BSDJ6V2REDCXF1G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -24.05526, + 4.3064, + 9.69213 + ], + "start_rotation": [ + 0, + 0.95129, + 0, + -0.30829 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 24.69673, + "euclidean_distance": 23.00877, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.68448, + 3.28633, + 4.12943 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:39LNWE0K4WZ08FZZV9ZB919343UUIX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.98489, + 4.08487, + 8.22952 + ], + "start_rotation": [ + 0, + 0.45907, + 0, + 0.8884 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 22.14658, + "euclidean_distance": 20.66132, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.65591, + 3.28633, + 4.10535 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3R2UR8A0ICJ2L54XY9N3D54TAQMXOR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.56212, + -0.31367, + -13.85641 + ], + "start_rotation": [ + 0, + 0.10106, + 0, + 0.99488 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.98265, + "euclidean_distance": 10.43833, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.22439, + -0.31367, + -4.1301 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_308_newN_0", + "path": [ + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "0_edge_311_newN_0", + "0_edge_15_newN_1", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_15_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "refined_path": [ + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "0_edge_308_newN_0" + ], + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + [ + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_15_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WQ3B2KGEAJACAUVNBXACC0TZKM1BE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 14.4301, + -0.23768, + -0.31939 + ], + "start_rotation": [ + 0, + 0.94921, + 0, + 0.31466 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 28.52703, + "euclidean_distance": 17.33336, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.27356, + 3.48633, + -2.96145 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "193d45e0b5d842e69acc5813e478f614", + "path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3LUY3GC6313QRQA7VWWK86WVJ9VP7C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.34091, + 3.88633, + 3.7864 + ], + "start_rotation": [ + 0, + 0.74051, + 0, + 0.67205 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.7312, + "euclidean_distance": 11.91556, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.08304, + 3.41782, + 7.17946 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A302KOFOYLD89A:34Z02EIMIUGA173UREKVY1N5ZROT0K", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.00133, + 6.68633, + -8.6306 + ], + "start_rotation": [ + 0, + 0.91433, + 0, + -0.40496 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.89721, + "euclidean_distance": 7.09891, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.68428, + 6.68633, + -1.72622 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "7f2859e1af57442ea602142e8fc3ebe0", + "path": [ + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3S0TNUHWKVLL27C00SXVMCB1GAND8Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.71458, + -0.31367, + 4.95388 + ], + "start_rotation": [ + 0, + 0.73724, + 0, + 0.67563 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 23.03192, + "euclidean_distance": 21.23309, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.01908, + -0.31367, + -6.80299 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "4486a4f9a25742c98cdd93b72fb3220e", + "path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:38F5OAUN5PFYE9CJCJOFZXU4XI17H5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.41461, + 3.88633, + 0.05174 + ], + "start_rotation": [ + 0, + 0.99339, + 0, + -0.11478 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 26.2547, + "euclidean_distance": 12.60139, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.36145, + 3.48633, + -5.83104 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3GD6L00D3U06V1YSE0NJQSBNABL1MH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.50844, + -0.31367, + -7.82615 + ], + "start_rotation": [ + 0, + 0.08008, + 0, + -0.99679 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.47485, + "euclidean_distance": 7.16292, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.2927, + -0.31367, + -4.30843 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "b59ade97c6674c23ba6c98612611bfe9", + "path": [ + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9" + ], + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:337RC3OW0752BVW5L26TX33E0HRLVS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.47822, + 6.68633, + 0.55344 + ], + "start_rotation": [ + 0, + 0.8678, + 0, + -0.49691 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.54158, + "euclidean_distance": 1.40839, + "closest_goal_object_id": 611, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.59277, + 6.68633, + -0.91392 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "890c5356b4da4a418e223fc9e366bf89", + "path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be" + ], + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1" + ], + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33F859I568GLGLF9P00V4ZG0F4VHBV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.80727, + -0.31367, + -3.92882 + ], + "start_rotation": [ + 0, + 0.21032, + 0, + -0.97763 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.55184, + "euclidean_distance": 5.25814, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.61555, + -0.31367, + -2.68933 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + [ + "7bb74d11234146b19b211e4b1c319cbf" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3ZAZR5XV03LQHB799M2XFQQNUMCZCP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.05044, + -0.31367, + -11.01657 + ], + "start_rotation": [ + 0, + 0.79732, + 0, + 0.60356 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.12726, + "euclidean_distance": 9.87351, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.34343, + 3.48633, + -2.93052 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "f1c591c0bc7b43b1896d6c65eaa1f561", + "path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_0", + "736a864f92174a1facfc05a0eb246091", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1" + ], + "0_edge_262_newN_0", + [ + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "736a864f92174a1facfc05a0eb246091", + [ + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FTYUGLFSWO2FPTY2UQSAS1ADH45DZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.70976, + -0.31367, + -13.75197 + ], + "start_rotation": [ + 0, + 0.51719, + 0, + 0.85587 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 15.36996, + "euclidean_distance": 13.78147, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.85964, + -0.31367, + -6.40414 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "789db63b2d704e95a468bf4e6332d8f9", + "path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "AW1QY7Q83DYCJ:3N1FSUEFL73KJ6PYOP7I50VWEOW4DN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.32154, + 4.01126, + 5.01692 + ], + "start_rotation": [ + 0, + 0.86041, + 0, + -0.5096 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 22.24581, + "euclidean_distance": 19.08769, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.90605, + 3.56743, + -10.277 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "0_edge_133_newN_1", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_79_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + [ + "60ddff235ac44416b783febc3fa613b6" + ], + "0_edge_278_newN_0", + "0_edge_341_newN_0", + [ + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4" + ], + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2" + ], + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:358010RM5GWXBPDUZL9H8XY17R2XVT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.82562, + 6.68633, + 2.78523 + ], + "start_rotation": [ + 0, + 0.05279, + 0, + 0.99861 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.2616, + "euclidean_distance": 3.58321, + "closest_goal_object_id": 500, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.7681, + 6.73292, + 2.20277 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "23529d8037d541ccbcccc986d779f269", + "path": [ + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "refined_path": [ + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36ZN444YTT15VAF2ZNN2AVHEMCSOIQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.39573, + -0.31367, + -11.94111 + ], + "start_rotation": [ + 0, + 0.11474, + 0, + 0.9934 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.07526, + "euclidean_distance": 8.6133, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.24124, + -0.31367, + -4.20981 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0d600d9a62be462ca3aa8e9c77d07d5a", + "path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3OHYZ19UGE8QPSW4NZVPTXTVAE0AO6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.58342, + -0.31367, + -12.28777 + ], + "start_rotation": [ + 0, + 0.952, + 0, + 0.30609 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.98079, + "euclidean_distance": 3.6962, + "closest_goal_object_id": 115, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.60819, + -0.31367, + -9.07526 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0d600d9a62be462ca3aa8e9c77d07d5a", + "path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091" + ], + "refined_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WT783CTPDKUZD4T38MUT8JK3FHBCE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.4128, + 3.88633, + 0.84115 + ], + "start_rotation": [ + 0, + 0.94153, + 0, + 0.33694 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 17.69163, + "euclidean_distance": 13.74777, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.26188, + 3.48633, + -10.26252 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PMBY0YE296BBKPW5O8Y22OUFIXC9U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.75574, + 3.88633, + 2.19564 + ], + "start_rotation": [ + 0, + 0.27078, + 0, + -0.96264 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 28.66846, + "euclidean_distance": 26.99705, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.98301, + 3.28633, + 4.5329 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39GXDJN2OVH7WOCMRDXPSYH8FA8V8H", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.06117, + -0.31367, + -9.1273 + ], + "start_rotation": [ + 0, + 0.99339, + 0, + 0.11483 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.45555, + "euclidean_distance": 8.14508, + "closest_goal_object_id": 111, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.85416, + -0.31367, + -2.17569 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "858ce8552a0a40b686b4de4bc9eec65c", + "path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:379J5II41QJL9KAJQCHJXZFSZF7ELJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.53826, + 6.68633, + 2.71352 + ], + "start_rotation": [ + 0, + 0.67373, + 0, + -0.73897 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.46125, + "euclidean_distance": 3.44908, + "closest_goal_object_id": 512, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.89527, + 6.68633, + 5.85002 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "479c8982b70a4ae5be3dcf5148b4c739", + "path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "5e7ad15a2bbd4a55a95560ee0121c222" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "5e7ad15a2bbd4a55a95560ee0121c222" + ], + "refined_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739" + ], + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + [ + "10e1ff604f364dedaa146d4f387399be" + ], + "5e7ad15a2bbd4a55a95560ee0121c222" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3E7TUJ2EGEPLGCVA5K39M86C0IFD91", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.08282, + 3.88633, + 3.67999 + ], + "start_rotation": [ + 0, + 0.81542, + 0, + 0.57887 + ], + "object_category": "table", + "info": { + "geodesic_distance": 23.1277, + "euclidean_distance": 21.54936, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.38663, + 3.28633, + 6.06567 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3FTF2T8WLTLKPIV1MF8ZEWVX6O99W9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.99404, + 3.28633, + 5.64049 + ], + "start_rotation": [ + 0, + 0.21805, + 0, + -0.97594 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.76184, + "euclidean_distance": 3.30899, + "closest_goal_object_id": 332, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.72004, + 3.28633, + 6.476 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3QHK8ZVMIOLN2HYZGLFTWR97WHCBLW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.65852, + -0.31367, + -7.59504 + ], + "start_rotation": [ + 0, + 0.99649, + 0, + 0.08369 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.46209, + "euclidean_distance": 7.17831, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.32037, + -0.31367, + -4.21605 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_262_newN_0", + "path": [ + "0_edge_262_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_325_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_262_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_325_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "refined_path": [ + "0_edge_262_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_325_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "b682278fff3c4478b2f6e2012e31fd18" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3XLBSAQ9Z6FK5UCDI5UMZ4Y9S5DZ7B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.56178, + 3.88633, + -0.29161 + ], + "start_rotation": [ + 0, + 0.89249, + 0, + -0.45108 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 21.67883, + "euclidean_distance": 15.33231, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.03695, + 3.59018, + -10.1919 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3O6CYIULEF4I9AJ4KQ3QASIBJCBUWJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.55221, + 3.88633, + 4.63227 + ], + "start_rotation": [ + 0, + 0.48857, + 0, + 0.87252 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.64271, + "euclidean_distance": 24.69061, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.15256, + 3.28633, + 4.48786 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3H7Z272LX9AP6BZ9ZQXURBEWDRVPLB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.37695, + -0.31367, + 0.92469 + ], + "start_rotation": [ + 0, + 0.60165, + 0, + -0.79876 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.40069, + "euclidean_distance": 10.62299, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.12554, + -0.31367, + -5.23421 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_450_newN_0", + "path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NPFYT4IZE7ETSNZAQAV8WVRJ7SXG7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.05488, + 3.48633, + -8.57221 + ], + "start_rotation": [ + 0, + 0.99642, + 0, + 0.08452 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.61586, + "euclidean_distance": 6.01465, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.93859, + 0.30388, + -3.5996 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "45eac43ea9054cbbaa91863a5aa202fa", + "path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "0_edge_185_newN_1", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa" + ], + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:3D4CH1LGECWOSW517A4HST99D7DG9Q", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.84691, + 3.88633, + 0.14386 + ], + "start_rotation": [ + 0, + 0.59277, + 0, + 0.80537 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 23.48846, + "euclidean_distance": 22.29416, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.69324, + 3.28633, + 5.65726 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:33FBRBDW6Q2BXF6M0W2K26TJV9X8CD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.43286, + 3.92576, + 6.37564 + ], + "start_rotation": [ + 0, + 0.31335, + 0, + 0.94964 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 26.02827, + "euclidean_distance": 23.51527, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07506, + 3.41666, + 7.1662 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3F6KKYWMND465EZ46UME491W580DN6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.6236, + 3.48633, + -1.4223 + ], + "start_rotation": [ + 0, + 0.87389, + 0, + -0.48612 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.07854, + "euclidean_distance": 9.66398, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07832, + 3.28633, + 5.64735 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "bacef43d28c74751a7bd62578d443053", + "path": [ + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de" + ] + }, + { + "episode_id": "A17C8CUROFU495:3WT783CTPDKUZD4T38MUT8JK3J3BC8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.77688, + 3.28633, + 4.92021 + ], + "start_rotation": [ + 0, + 0.81631, + 0, + 0.57762 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.53258, + "euclidean_distance": 3.78649, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.80724, + 3.48633, + 8.12921 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3OSWBBLG1G0BH8D8809N2BSU6EXXDG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.3795, + 3.48633, + -3.82091 + ], + "start_rotation": [ + 0, + 0.47154, + 0, + 0.88184 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.79511, + "euclidean_distance": 8.45831, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06294, + 3.59005, + -10.27947 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "599f73b398ef4e738aae7f557c0b35c6", + "path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + [ + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + [ + "d8401d8f05d84422a3543e9a1e612d11" + ], + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ] + }, + { + "episode_id": "A16K7X677N4WN6:38JBBYETQQDPBC3YKKI2BIDHE4AE4B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 17.66844, + -0.68633, + -4.97378 + ], + "start_rotation": [ + 0, + 0.6113, + 0, + 0.7914 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 18.97035, + "euclidean_distance": 16.24462, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.57603, + -0.31367, + -14.29831 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "b682278fff3c4478b2f6e2012e31fd18", + "path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "refined_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3QBD8R3Z23MBN3GNEYLYGU7VHZSO4M", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.73386, + -0.31367, + -16.27858 + ], + "start_rotation": [ + 0, + 0.86499, + 0, + 0.50179 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 29.66044, + "euclidean_distance": 14.38361, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.2745, + 3.48633, + -2.82963 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "2541575c89e8441da0419900ff2388dd", + "path": [ + "2541575c89e8441da0419900ff2388dd", + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "976a7a79035a4583a10624453174d94e", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "2541575c89e8441da0419900ff2388dd", + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "2541575c89e8441da0419900ff2388dd", + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + [ + "2541575c89e8441da0419900ff2388dd" + ], + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A16K7X677N4WN6:37ZHEEHM6YPJK15KXYZDV3TUEGH732", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.97931, + 3.88633, + 4.78078 + ], + "start_rotation": [ + 0, + 0.9943, + 0, + -0.10658 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 23.19107, + "euclidean_distance": 21.12, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.0707, + 3.28633, + 4.69326 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3VE8AYVF8O0I0RQWRYSLACEMRJIF8H", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.52465, + 3.88633, + -0.68109 + ], + "start_rotation": [ + 0, + 0.99885, + 0, + -0.04796 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 22.04491, + "euclidean_distance": 15.53599, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.37457, + 3.48633, + -10.08467 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7bb74d11234146b19b211e4b1c319cbf", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + [ + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3AMYWKA6YDPP2QK1XMEDDSR9DLXO6W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.36322, + 3.32011, + -0.12682 + ], + "start_rotation": [ + 0, + 0.97827, + 0, + 0.20733 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.21459, + "euclidean_distance": 3.16192, + "closest_goal_object_id": 363, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -5.07004, + 3.48633, + 2.61597 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "001d8a657cbd41e7bf5a538e5768b058", + "path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A314XJY8V1YL12:30LSNF239WYRO3QXCPP53IEBMIC2I1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.65639, + -0.31367, + 5.53425 + ], + "start_rotation": [ + 0, + 0.79619, + 0, + 0.60505 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 25.46345, + "euclidean_distance": 21.57276, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.18058, + -0.31367, + -5.23111 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "4486a4f9a25742c98cdd93b72fb3220e", + "path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "a70662f06c7d43348cf1592a80e7e183", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "0_edge_135_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f" + ], + "a70662f06c7d43348cf1592a80e7e183", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + [ + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3EF8EXOTT3YGUTS7B3ARA0J66HP1JC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.5869, + 3.87935, + -4.96151 + ], + "start_rotation": [ + 0, + 0.0665, + 0, + -0.99779 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.22614, + "euclidean_distance": 7.55836, + "closest_goal_object_id": 363, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.99475, + 3.48633, + 2.51446 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "a70662f06c7d43348cf1592a80e7e183", + "path": [ + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b" + ], + "refined_path": [ + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3QFUFYSY90IHHQ3UFV28T0YHQ1FF4C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.45142, + 3.88633, + 3.42655 + ], + "start_rotation": [ + 0, + 0.96005, + 0, + 0.27983 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 20.86614, + "euclidean_distance": 17.65267, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.30233, + 3.48633, + -10.28812 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9" + ], + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3DOCMVPBTPHFRQQHVO0H0EDQI6ANNT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.02779, + -0.31367, + -0.2417 + ], + "start_rotation": [ + 0, + 0.98281, + 0, + 0.18464 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.54263, + "euclidean_distance": 5.21026, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.36239, + 3.48633, + -2.86109 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "ee34e33014c94bf79cda5892e2ec6b24", + "path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "241fde907a674d6ca8916fd2beec6dfc", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "241fde907a674d6ca8916fd2beec6dfc", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A399GYOD60WD7M:3E7TUJ2EGEPLGCVA5K39M86C0IDD9Z", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.02414, + 3.88633, + 1.60421 + ], + "start_rotation": [ + 0, + 0.99849, + 0, + -0.05489 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 22.24354, + "euclidean_distance": 20.95921, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.15744, + 3.42445, + 7.38837 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3TXWC2NHN1TRI1ES2AYYH7SC1MY9S2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 14.7681, + -0.21551, + -0.65473 + ], + "start_rotation": [ + 0, + 0.56659, + 0, + -0.824 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 26.16095, + "euclidean_distance": 24.25297, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.18848, + -0.31367, + -5.31994 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "193d45e0b5d842e69acc5813e478f614", + "path": [ + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614" + ], + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3CFVK00FWNOHW5H4KUYLLBNFJS3L6C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.13913, + -0.31367, + -17.00532 + ], + "start_rotation": [ + 0, + 0.16477, + 0, + -0.98633 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 19.48324, + "euclidean_distance": 18.41038, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.63603, + -0.2927, + 0.14629 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "4a9d28ec80c94f1cadedb3e17667cd29", + "path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "refined_path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3CN4LGXD5ZRNHHKPKLUWIL5XWBKY45", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.95959, + 3.88633, + -0.73087 + ], + "start_rotation": [ + 0, + 0.55907, + 0, + 0.82912 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.2655, + "euclidean_distance": 20.17412, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.07096, + 3.28633, + 5.91135 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8" + ], + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3PW9OPU9PSNGOXUZ4I4ZBJXP49U12M", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.86722, + -0.31367, + -8.04675 + ], + "start_rotation": [ + 0, + 0.99965, + 0, + -0.02653 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.90954, + "euclidean_distance": 7.24246, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.91821, + -0.31367, + -6.33776 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "a0538fdc778f4a90ba3b0ef0f40d5caa", + "path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3AMW0RGHOF5FUB2UB3D943ILIKYNPA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.82058, + 6.88633, + 0.6563 + ], + "start_rotation": [ + 0, + 0.11832, + 0, + -0.99298 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.09286, + "euclidean_distance": 5.69733, + "closest_goal_object_id": 554, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.72332, + 6.68633, + 2.2166 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0_edge_282_newN_1", + "path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "refined_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + [ + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1" + ], + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3BQU611VFRN9DMITT4Y70CNM9W599J", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.93101, + -0.11153, + -6.34352 + ], + "start_rotation": [ + 0, + 0.54144, + 0, + -0.84074 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.7398, + "euclidean_distance": 10.11662, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.10993, + -0.08052, + 0.00612 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "af61ae476e8c4c6e9ee79090fd72f1c9", + "path": [ + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_311_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "0_edge_308_newN_0", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "refined_path": [ + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10", + [ + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:33M4IA01QI45IIWDQ147709YMKIXRR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.18883, + 6.68633, + 3.75592 + ], + "start_rotation": [ + 0, + 0.55477, + 0, + 0.83201 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.02554, + "euclidean_distance": 3.48953, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.88487, + 6.68633, + 5.43254 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "d547331b610244018371be43294f36c1", + "path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + [ + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1" + ], + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55" + ], + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37TRT2X24SUH7RAZD03GGCWFT0UJB6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.75843, + -0.31367, + -5.62578 + ], + "start_rotation": [ + 0, + 0.10961, + 0, + 0.99397 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.42807, + "euclidean_distance": 5.40092, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.49595, + -0.31367, + -0.67036 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "736a864f92174a1facfc05a0eb246091", + "path": [ + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3WRFBPLXRCR8NMX7D5G2R0FKEV53NS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.28236, + 6.68633, + 6.08612 + ], + "start_rotation": [ + 0, + 0.21598, + 0, + 0.9764 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.78521, + "euclidean_distance": 1.76623, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.28333, + 6.68633, + 6.72654 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "ee4d521f9b174894b7b595e1b56ee901", + "path": [ + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3DEL4X4EL8OEFJ8Z4WW1FW2VO2VXYG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.48544, + 3.28633, + 6.53769 + ], + "start_rotation": [ + 0, + 0.82145, + 0, + 0.57028 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.80332, + "euclidean_distance": 2.63791, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05079, + 3.41215, + 7.1471 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "4edc8197749e4379b34c663f9e370a80", + "path": [ + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80" + ], + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3VNXK88KKEL7ATVWW533SUCJZK5V9T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.46168, + 3.28633, + 4.0774 + ], + "start_rotation": [ + 0, + 0.80348, + 0, + -0.59533 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.41952, + "euclidean_distance": 4.40214, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.28126, + 3.46194, + 7.1853 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3JZQSN0I3SDXT6WEAW492PVKF3UGFZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.67599, + 3.48633, + -9.89522 + ], + "start_rotation": [ + 0, + 0.7406, + 0, + -0.67194 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.19852, + "euclidean_distance": 18.81627, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.68457, + 3.48633, + 8.16882 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "70be058041854ca4bcfae120bfb3fba0", + "path": [ + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "45eac43ea9054cbbaa91863a5aa202fa", + [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa" + ], + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3WI0P0II63VRKCRWZ13VDT665ZXDRP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.80747, + 3.88633, + 5.14706 + ], + "start_rotation": [ + 0, + 0.80744, + 0, + 0.58995 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.40602, + "euclidean_distance": 11.1252, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.69676, + 3.28633, + 4.01871 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3GU1KF0O4K4DT2DX8D80D8IR1WFBP6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.78543, + -0.31367, + -1.72412 + ], + "start_rotation": [ + 0, + 0.91987, + 0, + 0.39221 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.11692, + "euclidean_distance": 13.30276, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.19359, + -0.31367, + -5.17076 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_192_newN_0", + "path": [ + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AVASQBFN6J692:3QEMNNSB2Z2H2T7HQN5P8CF64MF7DU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.53604, + 6.68633, + -6.98158 + ], + "start_rotation": [ + 0, + 0.60241, + 0, + -0.79819 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.5697, + "euclidean_distance": 1.97228, + "closest_goal_object_id": 593, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.91042, + 6.68633, + -5.01592 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "9f02cc693511409ea77d000606f10f1d", + "path": [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3S0TNUHWKVLL27C00SXVMCB1GAVD86", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.41422, + 2.59596, + -3.6338 + ], + "start_rotation": [ + 0, + 0.16227, + 0, + 0.98675 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.5922, + "euclidean_distance": 3.27794, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.35258, + 0.08633, + -3.12955 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "261b527d225d4fcf85f580f3b304ae36", + "path": [ + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "736a864f92174a1facfc05a0eb246091", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36" + ], + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3RXCAC0YITSOERMR2IY3SXEYSVDG86", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.42417, + -0.31367, + -11.07545 + ], + "start_rotation": [ + 0, + 0.5696, + 0, + 0.82192 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.54367, + "euclidean_distance": 10.01598, + "closest_goal_object_id": 111, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.86477, + -0.31367, + -2.13231 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "b6a9f93f5e264750ad8159d4b93ac177", + "path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A2JXPT39AWRES7:3I7DHKZYGP3ZD97UT0LIYS4VQ0O5FR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.03838, + 3.88633, + 1.459 + ], + "start_rotation": [ + 0, + 0.29964, + 0, + -0.95405 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 23.64588, + "euclidean_distance": 11.37866, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.25966, + 3.48633, + -5.76036 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3UJ1CZ6IZJS8HECGZKLH5RNAEGBS55", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.24282, + -0.31367, + 1.78998 + ], + "start_rotation": [ + 0, + 0.35656, + 0, + -0.93427 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.48534, + "euclidean_distance": 4.24208, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.36336, + -0.31367, + 5.88602 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_438_newN_1", + "path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_289_newN_0", + "0_edge_46_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "refined_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_46_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:37UQDCYH6ZY3WA73H85JEYLD4SF7VN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.36096, + 3.28633, + 5.08511 + ], + "start_rotation": [ + 0, + 0.16723, + 0, + 0.98592 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 20.43198, + "euclidean_distance": 16.3293, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.30365, + 3.48633, + -10.16138 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "5eb29212d43d436ca60e05d19215a0de", + "path": [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ZAK8W07I6HP1KIJRJA53X97JFS0U0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.01835, + 6.68633, + 2.22132 + ], + "start_rotation": [ + 0, + 0.46653, + 0, + -0.88451 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.9784, + "euclidean_distance": 3.67524, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.86934, + 6.68633, + 5.54717 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "479c8982b70a4ae5be3dcf5148b4c739", + "path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + [ + "479c8982b70a4ae5be3dcf5148b4c739" + ], + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577" + ], + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3E4GGUZ1TAUIUYGLCSAHGYTODG22K0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.84251, + 6.68633, + 5.2748 + ], + "start_rotation": [ + 0, + 0.67835, + 0, + -0.73474 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.92121, + "euclidean_distance": 7.07704, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.9986, + 6.70489, + -1.04705 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "e34627d6e1e740b88b2fcb25d08e4029", + "path": [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "refined_path": [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LEIZ60CDL2OJD06X2S6D0PFOZRZ9M", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 12.23047, + -0.31367, + 1.20923 + ], + "start_rotation": [ + 0, + 0.9005, + 0, + -0.43486 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.16347, + "euclidean_distance": 20.80873, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.92221, + -0.31367, + -6.69545 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SEPORI8WP22OWABP8669V0ZUJIZAE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.3282, + 3.88633, + 7.96255 + ], + "start_rotation": [ + 0, + 0.80143, + 0, + 0.59808 + ], + "object_category": "table", + "info": { + "geodesic_distance": 25.2474, + "euclidean_distance": 20.76104, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.23973, + 3.28633, + 6.0996 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81" + ], + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:3QFUFYSY90IHHQ3UFV28T0YHPYI4FX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.82059, + -0.31367, + -13.92598 + ], + "start_rotation": [ + 0, + 0.99984, + 0, + 0.01811 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 18.9587, + "euclidean_distance": 17.35004, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.03518, + -0.31367, + -6.72442 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "0_edge_68_newN_1", + "path": [ + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "0_edge_59_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ], + "refined_path": [ + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:32VNZTT0A97EKG836Q22APC0TS04RC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.53089, + 3.25671, + -2.51472 + ], + "start_rotation": [ + 0, + 0.76946, + 0, + -0.63869 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.30465, + "euclidean_distance": 4.60265, + "closest_goal_object_id": 257, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.00661, + 0.06126, + -0.44189 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "3c8b0995c325481a85ad4648931e5fde", + "path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3JWH6J9I9UGDQH1KSYV89JDW2JCBND", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.44237, + 1.69414, + -4.45831 + ], + "start_rotation": [ + 0, + 0.86674, + 0, + 0.49876 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 2.62287, + "euclidean_distance": 2.14165, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.10835, + 0.25436, + -3.5491 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "80e307b885d1427e859c654eb2f74042", + "path": [ + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TY7ZAOG5HNBYOD7X563XA09HN80KF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.92173, + -0.31367, + -2.55748 + ], + "start_rotation": [ + 0, + 0.70293, + 0, + -0.71126 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 6.10463, + "euclidean_distance": 5.17838, + "closest_goal_object_id": 124, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.21426, + -0.31367, + -7.46343 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "68f1cface63843b6b3d72072a4a11fa8", + "path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_75_newN_1", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_75_newN_1", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_75_newN_1", + [ + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3SNVL38CI6VVSG8N9LZNSB2AQAGCKR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.02572, + 6.68633, + -4.53618 + ], + "start_rotation": [ + 0, + 0.76415, + 0, + -0.64504 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.39989, + "euclidean_distance": 2.84646, + "closest_goal_object_id": 500, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.69709, + 6.68633, + -2.24754 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "700e564b1a6f4ae2a7a230639c9f2b7f", + "path": [ + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "refined_path": [ + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3Z3ZLGNNSKXTQJAZTX8JVUAPJ6E3Q1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.78384, + -0.31367, + -12.61941 + ], + "start_rotation": [ + 0, + 0.99888, + 0, + -0.04738 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 20.02105, + "euclidean_distance": 18.39903, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.1075, + -0.31367, + -5.25115 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "b9dbbef4ae9a4646ba247cf476b1baeb", + "path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + [ + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea" + ], + "6fb42054fdfb4b6bbf3831589a8c56e5", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3AUQQEL7U7WPEZ7JW9KAZJBQXJ6V0J", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.83456, + -0.31367, + -1.73757 + ], + "start_rotation": [ + 0, + 0.49239, + 0, + -0.87038 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 7.04084, + "euclidean_distance": 6.28335, + "closest_goal_object_id": 124, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.18819, + -0.31367, + -7.45688 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "fd22cb9d82364bbdb6ea4fdb051a7721", + "path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3GNCZX450KQ8AS852Z84IXYLJ9SAPY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.33136, + -0.31367, + -14.55861 + ], + "start_rotation": [ + 0, + 0.36837, + 0, + 0.92968 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.83869, + "euclidean_distance": 10.53357, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.24012, + -0.31367, + -4.07366 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "path": [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "refined_path": [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1" + ], + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63" + ], + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3P59JYT76NNHXH6861O9HPGKWOM2TP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.62043, + -0.31367, + -11.62613 + ], + "start_rotation": [ + 0, + 0.90817, + 0, + -0.41861 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.59617, + "euclidean_distance": 9.83657, + "closest_goal_object_id": 111, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.7115, + -0.31367, + -2.19929 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_311_newN_1", + "path": [ + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3U84XHCDIEGNM7UUG7WFWSEZ1YN4ZM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.96798, + -0.31367, + -6.52649 + ], + "start_rotation": [ + 0, + 0.11037, + 0, + -0.99389 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.52413, + "euclidean_distance": 5.18383, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.22697, + -0.31367, + -4.21851 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "3ca0a0e34b9046d58a1c3fe2543576e0", + "path": [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0" + ], + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3EF8EXOTT3YGUTS7B3ARA0J67NB1JB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.83159, + 3.92032, + 5.08896 + ], + "start_rotation": [ + 0, + 0.19015, + 0, + 0.98175 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 28.87811, + "euclidean_distance": 20.97234, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.06252, + 0.27359, + -3.54924 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:34MAJL3QP6QM1EN1V016SR9KNBU34B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.95376, + 3.88633, + 4.02943 + ], + "start_rotation": [ + 0, + 0.62189, + 0, + -0.7831 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 22.06849, + "euclidean_distance": 21.22165, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.66531, + 3.28633, + 4.13413 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:30JNVC0ORBN8KRHY8IXLZOBZ11HQHV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.28425, + -0.31367, + 1.99511 + ], + "start_rotation": [ + 0, + 0.99878, + 0, + -0.04934 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.27975, + "euclidean_distance": 4.033, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.22371, + -0.28989, + 5.91997 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "09c10c580a0e4b4cb4f6f9445c4509e0", + "path": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EG49X351WFCWZYTYD19W5I2QZMX6F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.00037, + 3.28633, + 0.0373 + ], + "start_rotation": [ + 0, + 0.35832, + 0, + -0.9336 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.3576, + "euclidean_distance": 9.60065, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.68569, + 3.28633, + 5.56365 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3I02618YA29SP1M384PVIYAFQFJPUU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.80768, + -0.31367, + -3.16732 + ], + "start_rotation": [ + 0, + 0.97356, + 0, + -0.22842 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.73422, + "euclidean_distance": 11.71722, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.87953, + -0.31367, + 6.88507 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3ERET4BTVOCTUI1KX1PWQL12JMK9K7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.46296, + 2.34051, + -4.14434 + ], + "start_rotation": [ + 0, + 0.57074, + 0, + -0.82113 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.52031, + "euclidean_distance": 3.5516, + "closest_goal_object_id": 240, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.67899, + 0.17958, + -1.85713 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "261b527d225d4fcf85f580f3b304ae36", + "path": [ + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3TXD01ZLD6K6080KAKX7F0ZKZL3U4S", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.03922, + -0.31367, + 3.97638 + ], + "start_rotation": [ + 0, + 0.34298, + 0, + -0.93934 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 15.21659, + "euclidean_distance": 13.53482, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.33352, + 0.08633, + -3.1849 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "0_edge_76_newN_0", + "path": [ + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:38BQUHLA9Y3RRT5TK2LU2OOV4VAMON", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 13.72662, + -0.30189, + -6.2163 + ], + "start_rotation": [ + 0, + 0.1905, + 0, + 0.98169 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.88761, + "euclidean_distance": 12.37031, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.60077, + -0.31367, + -14.35391 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:31HQ4X3T3UDMJ3F1R71OMGJ7096SLU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.21633, + 3.88633, + -1.25798 + ], + "start_rotation": [ + 0, + 0.93526, + 0, + -0.35396 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 26.67731, + "euclidean_distance": 11.87381, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.33453, + 3.48633, + -5.84277 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:33ISQZVXPRPD9IWZH8IP4SP2KYKCCK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.50121, + 3.48633, + -7.38223 + ], + "start_rotation": [ + 0, + 0.87421, + 0, + 0.48554 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 23.04033, + "euclidean_distance": 9.08536, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.17094, + 0.24064, + -3.51603 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "11df14e4d06c4d098f75eed3b847e3e3", + "path": [ + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + [ + "428bc90067994001952048f25dc4e57d" + ], + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9" + ], + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + [ + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RANCT1ZVHKQL7LTPZ7UNE5QAIVUBK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.7214, + 3.88633, + 4.00026 + ], + "start_rotation": [ + 0, + 0.07923, + 0, + 0.99686 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.19954, + "euclidean_distance": 16.95478, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.27283, + 3.48633, + -2.87425 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AVASQBFN6J692:3M23Y66PO4A40ICU43VMXX1AAFWS63", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.33031, + 3.48633, + 2.44409 + ], + "start_rotation": [ + 0, + 0.18648, + 0, + 0.98246 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.3257, + "euclidean_distance": 7.55849, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.25714, + 3.28633, + 6.09917 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "e908015113524e25a0fe06c0f88d6bb2", + "path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3V0Z7YWSI03WA9AXBWOOI745UJBV2S", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.54781, + 6.68633, + -1.3259 + ], + "start_rotation": [ + 0, + 0.79842, + 0, + -0.6021 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.08626, + "euclidean_distance": 8.54829, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.03573, + 6.707, + -1.0254 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_128_newN_1", + "path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3T3IWE1XG8QYP08T8CEAD7END3XQT7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.51755, + 3.88633, + -0.49899 + ], + "start_rotation": [ + 0, + 0.22228, + 0, + -0.97498 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 25.68114, + "euclidean_distance": 11.55252, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.2084, + 3.48633, + -5.6886 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3R2PKQ87NYBHV7UQM78PIRS9RD0MIY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.04008, + -0.31367, + -9.40161 + ], + "start_rotation": [ + 0, + 0.74504, + 0, + 0.66702 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.85238, + "euclidean_distance": 6.21074, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.1357, + -0.31367, + -4.24161 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_79_newN_0", + "path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0_edge_308_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2" + ], + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:386PBUZZXH0TK0WB4DSAUFSK4RQLJ6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.67933, + 3.88633, + -0.19729 + ], + "start_rotation": [ + 0, + 0.13555, + 0, + -0.99077 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.85069, + "euclidean_distance": 13.96944, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.00017, + 3.28633, + 5.66396 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3DY4FPOOA3RDETRIQM3PJFCD55MRVL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.0501, + -0.31367, + 1.70606 + ], + "start_rotation": [ + 0, + 0.98796, + 0, + -0.15469 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.98935, + "euclidean_distance": 3.32079, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.12179, + -0.31367, + 4.47712 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0_edge_438_newN_1", + "path": [ + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63" + ], + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + [ + "503e9158558647fea49c1e6cfd0d5bc4", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3K9FOBBF2JMP3QNWJBK2NM91EGFNL7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.17913, + 6.68633, + -7.03222 + ], + "start_rotation": [ + 0, + 0.25783, + 0, + -0.96619 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.55863, + "euclidean_distance": 2.13398, + "closest_goal_object_id": 593, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.89989, + 6.68633, + -4.94901 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "9f02cc693511409ea77d000606f10f1d", + "path": [ + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "9b0ea58d8244411592f46e0c560d8595", + "ef22fd41921142d4a36d6354d2e10d23", + "4ed0dc66de83415196cb59d120b71d55" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "ef22fd41921142d4a36d6354d2e10d23", + "4ed0dc66de83415196cb59d120b71d55" + ], + "refined_path": [ + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + [ + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d" + ], + "9b0ea58d8244411592f46e0c560d8595", + "ef22fd41921142d4a36d6354d2e10d23", + "4ed0dc66de83415196cb59d120b71d55" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3RSDURM96CP59JHI9R69R7HO8ULEYL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.42729, + 6.68633, + 0.57352 + ], + "start_rotation": [ + 0, + 0.95578, + 0, + 0.29407 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.15653, + "euclidean_distance": 2.01821, + "closest_goal_object_id": 612, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.87372, + 6.68633, + -1.4221 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "890c5356b4da4a418e223fc9e366bf89", + "path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "5e7ad15a2bbd4a55a95560ee0121c222" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "5e7ad15a2bbd4a55a95560ee0121c222" + ], + "refined_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "5e7ad15a2bbd4a55a95560ee0121c222" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3RJSC4XJ12X8G5S4QI2XVLHRKYK053", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.6836, + 3.88633, + 5.88948 + ], + "start_rotation": [ + 0, + 0.93295, + 0, + 0.36002 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 20.51756, + "euclidean_distance": 17.88057, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.20888, + 3.44124, + 7.2788 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3DR23U6WE7H9SXIOZLJAJQP9TWQETR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.94158, + -0.31367, + 2.74792 + ], + "start_rotation": [ + 0, + 0.21125, + 0, + 0.97743 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.71059, + "euclidean_distance": 4.85452, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.29762, + -0.31367, + 1.02562 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_438_newN_0", + "path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_75_newN_1", + "9c87bfbb759549478b4159a471d78826", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_75_newN_1", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0" + ], + "refined_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_75_newN_1", + "9c87bfbb759549478b4159a471d78826", + [ + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6" + ], + "0_edge_278_newN_0", + "0_edge_341_newN_0", + [ + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e" + ], + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0" + ] + }, + { + "episode_id": "AY7WPVKHVNBLG:3EJJQNKU9T88WSWYLXML4EL4XRLRH7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.33819, + 3.88633, + 4.30218 + ], + "start_rotation": [ + 0, + 0.88462, + 0, + 0.46632 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 17.67222, + "euclidean_distance": 15.67968, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.13661, + 3.43028, + 7.16989 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3PXX5PX6LZ166Y7VJUQ3NDTW3D1ABI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.69068, + 0.70613, + -4.87123 + ], + "start_rotation": [ + 0, + 0.54209, + 0, + 0.84032 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.29821, + "euclidean_distance": 3.93493, + "closest_goal_object_id": 109, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.98238, + -0.18747, + -2.20997 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "682b19fbab024b3ca81f62cd4d287ca7", + "path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "refined_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:39JEC7537W498R2Z8PDUUKDR55XCVG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.30938, + 1.59238, + -4.73634 + ], + "start_rotation": [ + 0, + 0.96432, + 0, + -0.26475 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.5973, + "euclidean_distance": 4.83258, + "closest_goal_object_id": 257, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.92978, + 0.06442, + -0.2665 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "d3e8b8227bae4a98a88d307d56b02908", + "path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "refined_path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3QILPRALQ7YUOJ3DPMBYIHNVUEN8N9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.20241, + 6.68633, + 8.33802 + ], + "start_rotation": [ + 0, + 0.8364, + 0, + 0.54813 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.13346, + "euclidean_distance": 1.8631, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.34645, + 6.68633, + 6.7494 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3G5W44VEU9L89SOSB7V6I2NPO5FKGM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.68263, + 3.88633, + 0.61889 + ], + "start_rotation": [ + 0, + 0.02608, + 0, + -0.99966 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 11.04738, + "euclidean_distance": 9.15349, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.19498, + 3.48633, + -2.87158 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OLF68YTNB4WJFJBOWCZ63KHH78FAB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.82331, + 3.30805, + -0.6384 + ], + "start_rotation": [ + 0, + 0.82609, + 0, + 0.56353 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.51508, + "euclidean_distance": 5.08923, + "closest_goal_object_id": 101, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.68821, + -0.22711, + -2.25997 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QILPRALQ7YUOJ3DPMBYIHNVUGTN8Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.5682, + -0.31367, + -2.81402 + ], + "start_rotation": [ + 0, + 0.71664, + 0, + 0.69745 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.85908, + "euclidean_distance": 7.35937, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.22801, + -0.31367, + 3.04591 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + [ + "fd22cb9d82364bbdb6ea4fdb051a7721" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ] + }, + { + "episode_id": "A11EL5LWS2L1HX:354GIDR5ZD99LY63TCWLEQL03ND00G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.73089, + 3.88633, + 3.10444 + ], + "start_rotation": [ + 0, + 0.54796, + 0, + 0.8365 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 22.81593, + "euclidean_distance": 21.22151, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.31367, + 3.28633, + 5.71348 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37M28K1J0SGCOH577M3KL1C9BIBAJ4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.7619, + -0.31367, + 10.15467 + ], + "start_rotation": [ + 0, + 0.13511, + 0, + 0.99083 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 29.55402, + "euclidean_distance": 22.0458, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.12257, + -0.31367, + -5.25496 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "67bfc67489fc45be8e7dcb8b637c566d", + "path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + [ + "0_edge_425_newN_0" + ], + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3LQ8PUHQFNVV3TTFVASCQMKDBYQHIO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.36535, + 6.68633, + -8.11206 + ], + "start_rotation": [ + 0, + 0.30888, + 0, + -0.9511 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.1772, + "euclidean_distance": 6.49836, + "closest_goal_object_id": 605, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.60732, + 6.68633, + -3.08706 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "57180afbe3c341b18a9483752afb6f9a", + "path": [ + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ], + "refined_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3HUTX6F6VWQ1KP10AK2ANFAXXJZ2O3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.52032, + 6.68633, + -7.37581 + ], + "start_rotation": [ + 0, + 0.99934, + 0, + -0.03621 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.75171, + "euclidean_distance": 4.78348, + "closest_goal_object_id": 496, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.35163, + 6.68633, + -2.79512 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9f02cc693511409ea77d000606f10f1d", + "path": [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ], + "refined_path": [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + [ + "4ed0dc66de83415196cb59d120b71d55" + ] + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3OWEPKL08BFQO5YUFHJS4HR0JTGN7Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.66974, + 3.88633, + 3.63704 + ], + "start_rotation": [ + 0, + 0.57034, + 0, + 0.82141 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 25.4134, + "euclidean_distance": 21.01053, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.03031, + 3.58537, + -10.2784 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "0_edge_290_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3JZQSN0I3SDXT6WEAW492PVKFZ5GF2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.71681, + 6.68633, + -5.99332 + ], + "start_rotation": [ + 0, + 0.5427, + 0, + 0.83993 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.26951, + "euclidean_distance": 4.82014, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06233, + 6.68633, + -1.62714 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "c6957ec905d04ac8acab161452470981", + "path": [ + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "refined_path": [ + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981" + ], + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d" + ], + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd" + ] + }, + { + "episode_id": "A16184N1RO5OJV:3RXCAC0YITSOERMR2IY3SXEYSY9G88", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.17659, + -0.31367, + 4.15434 + ], + "start_rotation": [ + 0, + 0.94515, + 0, + -0.32665 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.54871, + "euclidean_distance": 17.26468, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.43067, + 0.08633, + -3.15314 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "09e4e508dfb542bb86651bf77d36a64e", + "path": [ + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + [ + "d8401d8f05d84422a3543e9a1e612d11" + ], + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3JRJSWSMQJO4TGKUK6DJ1DLB048E3K", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.25157, + 3.88633, + 7.85508 + ], + "start_rotation": [ + 0, + 0.85553, + 0, + -0.51776 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 28.40673, + "euclidean_distance": 21.01716, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.75715, + 3.48633, + 8.1734 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + [ + "f48b2bf8bcc64c3ca36d4190669f333a" + ], + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3YMTUJH0DUJR0VLVAF7XA4DIG6B4TO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.98531, + -0.31367, + -6.64215 + ], + "start_rotation": [ + 0, + 0.79491, + 0, + -0.60673 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.26565, + "euclidean_distance": 3.08447, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.28177, + -0.31367, + -9.20771 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "92b354c34ef04db58d7df4a754253ac4", + "path": [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "0_edge_76_newN_0", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_76_newN_0", + [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "241fde907a674d6ca8916fd2beec6dfc" + ], + "dbef8aac0198493597e8e5aec0de17cb", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3NKQQ8O3908J04JD3VY0I4TQD1JDUI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.26282, + 3.28633, + 5.03865 + ], + "start_rotation": [ + 0, + 0.13311, + 0, + 0.9911 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 23.30888, + "euclidean_distance": 17.50409, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.29971, + 3.48633, + -10.18896 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3Z4XG4ZF4AUZ0DHHRSY7GJETWUWX8L", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.24829, + 0.08633, + 4.00996 + ], + "start_rotation": [ + 0, + 0.08801, + 0, + -0.99612 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 16.00883, + "euclidean_distance": 11.41957, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.84599, + -0.31367, + -6.73764 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "0_edge_441_newN_1", + "path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TPZPLC3M2F8Q79KTKTUVPKFEA6P3A", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.33911, + -0.31367, + -10.99886 + ], + "start_rotation": [ + 0, + 0.44682, + 0, + 0.89462 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.08803, + "euclidean_distance": 11.90015, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.16823, + -0.31367, + -5.35131 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "f1c591c0bc7b43b1896d6c65eaa1f561", + "path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3EICBYG646Z0HW25R0ZBRW2XAEICJF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.36582, + -0.31367, + -13.77237 + ], + "start_rotation": [ + 0, + 0.81434, + 0, + 0.58039 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.90998, + "euclidean_distance": 10.28917, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.34532, + -0.31367, + -4.22365 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_308_newN_0", + "path": [ + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:373ERPL3YQBY11NTLR3AIXOS9OJTRT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.63501, + 3.88633, + -0.28798 + ], + "start_rotation": [ + 0, + 0.93517, + 0, + -0.35419 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 25.67864, + "euclidean_distance": 11.75339, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.20543, + 3.48633, + -5.6553 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3ND9UOO81M5FQKWABCBPJ5MS7QIWL2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.05201, + 3.88633, + 1.98132 + ], + "start_rotation": [ + 0, + 0.15164, + 0, + 0.98844 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 24.10634, + "euclidean_distance": 22.69082, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.32409, + 3.28633, + 5.66599 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:39JEC7537W498R2Z8PDUUKDR51RVCL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.8754, + 7.28633, + 0.43086 + ], + "start_rotation": [ + 0, + 0.49731, + 0, + -0.86757 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.5084, + "euclidean_distance": 2.2687, + "closest_goal_object_id": 482, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.97573, + 6.87678, + 0.19249 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_282_newN_1", + "path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "refined_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3ZSANO2JCHA0JB555WYQR3EN4ICFSF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.77577, + 4.08633, + 3.52065 + ], + "start_rotation": [ + 0, + 0.09898, + 0, + -0.99509 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 12.21873, + "euclidean_distance": 10.04365, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.90944, + 3.28633, + 5.72389 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "90dcb8a526504454b728d3f7951f153f", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + [ + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:3O6CYIULEF4I9AJ4KQ3QASIBKJ4WUT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.93893, + 3.88633, + 3.6281 + ], + "start_rotation": [ + 0, + 0.85379, + 0, + 0.52062 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 23.4877, + "euclidean_distance": 21.77569, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.64465, + 3.28633, + 5.57334 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a" + ], + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3K772S5NPAEJNORTZR2L57MLI1EEHY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.48794, + 3.48633, + -9.99661 + ], + "start_rotation": [ + 0, + 0.93709, + 0, + -0.34909 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.35236, + "euclidean_distance": 2.233, + "closest_goal_object_id": 418, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.94929, + 3.48633, + -7.89739 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "4e3ca18a1d6848529e1e97e841b3faa9", + "path": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3ZY8KE4ISL6D2SCID7EPEP28AMXQV3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.62448, + -0.31367, + -16.19143 + ], + "start_rotation": [ + 0, + 0.97828, + 0, + -0.20729 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.53454, + "euclidean_distance": 17.72023, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.96551, + -0.26458, + -6.141 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "32e645590a554d8694a69851854a1c10", + "path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "8a12480e7006496ca01c288e8b90e471", + "0_edge_83_newN_1", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4" + ], + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3OLQQLKKNUSFEUMJNR56HK20WXWJEV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.08106, + -0.31367, + -9.63819 + ], + "start_rotation": [ + 0, + 0.98912, + 0, + -0.14708 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 12.20492, + "euclidean_distance": 11.60071, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.84238, + -0.26585, + -6.12929 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_79_newN_0", + "path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + [ + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3DBQWDE4Y81B11KBRO4V6XD4RJEN53", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.81934, + 3.88633, + 6.35659 + ], + "start_rotation": [ + 0, + 0.30587, + 0, + 0.95207 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 23.63579, + "euclidean_distance": 20.97994, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.14027, + 3.43222, + 7.14637 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3I7DHKZYGP3ZD97UT0LIYS4VQZ95FA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.94773, + 3.88633, + 4.27892 + ], + "start_rotation": [ + 0, + 0.89635, + 0, + 0.44335 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 17.3425, + "euclidean_distance": 15.09325, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.09698, + 3.28633, + 4.4571 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33TIN5LC06DOENQ11GQNZTGDH2G9YR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.81017, + -0.31367, + 4.03551 + ], + "start_rotation": [ + 0, + 0.78022, + 0, + -0.6255 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.48757, + "euclidean_distance": 11.37884, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.2932, + 3.48633, + -2.98668 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "454f883454684daf86530a34b6d007f4", + "path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3EJJQNKU9T88WSWYLXML4EL4YUEHRX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.92622, + -0.31367, + -0.23806 + ], + "start_rotation": [ + 0, + 0.49203, + 0, + -0.87058 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.11834, + "euclidean_distance": 4.79299, + "closest_goal_object_id": 45, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 7.91456, + -0.31367, + 4.13096 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3ZQIG0FLQGJIMP84PGDV6EKUXGVVWE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.04041, + -0.31367, + -15.91255 + ], + "start_rotation": [ + 0, + 0.91769, + 0, + 0.3973 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.74781, + "euclidean_distance": 15.00443, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.24114, + -0.31367, + -4.15988 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_380_newN_0", + "path": [ + "0_edge_380_newN_0", + "0_edge_380_newN_1", + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_380_newN_0", + "0_edge_380_newN_1", + "0_edge_380_newN_0", + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "0_edge_380_newN_0", + "0_edge_380_newN_1", + [ + "0_edge_380_newN_0" + ], + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + ] + }, + { + "episode_id": "A101U3FTZYY87V:352YTHGROXG1VMU0ALQ8WLAU59V4HN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.78917, + -0.31367, + -15.18841 + ], + "start_rotation": [ + 0, + 0.38365, + 0, + 0.92348 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.12221, + "euclidean_distance": 11.05117, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.20122, + -0.31367, + -4.09945 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "7e8326b2742643919d565d01ff4cb501", + "path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "0_edge_384_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0" + ], + "refined_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "0_edge_384_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LOTDFNYA92TQSMEP18ROSH89MTWFD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.69312, + -0.31367, + 10.16036 + ], + "start_rotation": [ + 0, + 0.69919, + 0, + -0.71493 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.17852, + "euclidean_distance": 5.16018, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.89864, + -0.31367, + 5.20584 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:39DD6S19JRE5E9RN5D8S5EQQFXXEZ3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.78575, + 3.88633, + 8.24345 + ], + "start_rotation": [ + 0, + 0.38068, + 0, + 0.92471 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 29.923, + "euclidean_distance": 19.55037, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.61638, + 3.48633, + 8.11364 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + [ + "f48b2bf8bcc64c3ca36d4190669f333a" + ], + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3D8YOU6S9GNKFV4YT8QMCYJYVB16UF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.56961, + -0.30067, + -2.456 + ], + "start_rotation": [ + 0, + 0.10783, + 0, + -0.99417 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 23.04253, + "euclidean_distance": 11.71548, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.64384, + 3.48633, + 8.06769 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "cacc1a7ffed24a21a4ea14a6643d79bb", + "path": [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0_edge_83_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KKG4CDWKK18GGCHC92GJ4C6N2649T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.68377, + -0.31367, + 8.86776 + ], + "start_rotation": [ + 0, + 0.55291, + 0, + -0.83324 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.07078, + "euclidean_distance": 2.71301, + "closest_goal_object_id": 90, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.61306, + -0.31367, + 6.20599 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:33PPUNGG3A8UNDWSRJSS4LP9THYRZT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.50998, + 3.28633, + 4.46287 + ], + "start_rotation": [ + 0, + 0.98711, + 0, + 0.16007 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.21544, + "euclidean_distance": 6.73611, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.02129, + 3.28633, + 5.91357 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:304SM51WA57A6UTP0UCU8DN2OFNSB2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.7999, + 6.68633, + -4.84587 + ], + "start_rotation": [ + 0, + 0.96165, + 0, + -0.27429 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 3.5793, + "euclidean_distance": 3.04216, + "closest_goal_object_id": 605, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.69797, + 6.68633, + -2.93216 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "4ed0dc66de83415196cb59d120b71d55", + "path": [ + "4ed0dc66de83415196cb59d120b71d55", + "ef22fd41921142d4a36d6354d2e10d23", + "9b0ea58d8244411592f46e0c560d8595", + "2e532d8410fd4761b8166eedc0470347", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "ef22fd41921142d4a36d6354d2e10d23", + "9b0ea58d8244411592f46e0c560d8595", + "2e532d8410fd4761b8166eedc0470347", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "refined_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "ef22fd41921142d4a36d6354d2e10d23", + "9b0ea58d8244411592f46e0c560d8595", + "2e532d8410fd4761b8166eedc0470347", + [ + "9b0ea58d8244411592f46e0c560d8595" + ], + "700e564b1a6f4ae2a7a230639c9f2b7f", + [ + "ef22fd41921142d4a36d6354d2e10d23" + ], + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:336YQZE83XH5JJZBFNPVTIO4MU8M58", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.48108, + 3.88633, + 2.14376 + ], + "start_rotation": [ + 0, + 0.92787, + 0, + -0.37291 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.55011, + "euclidean_distance": 16.21296, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.3133, + 3.28633, + 5.64657 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3FFJ6VRIL3RKSTNJX2LRKULWOAX0IZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.92363, + -0.31367, + 8.30759 + ], + "start_rotation": [ + 0, + 0.99843, + 0, + 0.05601 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.74486, + "euclidean_distance": 2.34832, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.356, + -0.31367, + 5.8832 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3YWRV122CU27J9NMMNNKWCFP2AXU84", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.65381, + 3.48633, + -7.42142 + ], + "start_rotation": [ + 0, + 0.97491, + 0, + -0.2226 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.22596, + "euclidean_distance": 2.96783, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.23529, + 3.48633, + -5.88807 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "33a824661ad34d9391d80d87485b5356", + "path": [ + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:31LM9EDVONVJ80ZWGQ8P77W99IUJN2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.05835, + 3.48033, + -6.22979 + ], + "start_rotation": [ + 0, + 0.42703, + 0, + 0.90424 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 1.70326, + "euclidean_distance": 1.4584, + "closest_goal_object_id": 397, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.1254, + 3.48633, + -5.3745 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0674ebc36a2048828d0ce0dc80751886", + "path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3IGI0VL649NX9BQTW30UF3DV9KRONU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.28491, + 3.88633, + 4.94511 + ], + "start_rotation": [ + 0, + 0.46476, + 0, + -0.88544 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 19.71851, + "euclidean_distance": 17.50069, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06272, + 3.41741, + 7.09309 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3QIYRE09Y5KCDJJSQ12J370NG8AN1X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -28.38199, + 4.77288, + 10.95463 + ], + "start_rotation": [ + 0, + 0.80551, + 0, + 0.59259 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 29.10749, + "euclidean_distance": 27.53023, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.77136, + 3.28633, + 4.00838 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AD15OW944ZV20:3LKC68YZ3C6NW5Z7O4RHBMQM1SDWO2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.33505, + 3.88633, + 8.14234 + ], + "start_rotation": [ + 0, + 0.75309, + 0, + -0.65792 + ], + "object_category": "table", + "info": { + "geodesic_distance": 25.36184, + "euclidean_distance": 20.78555, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.30949, + 3.28633, + 6.05226 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "0_edge_133_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TPZPLC3M2F8Q79KTKTUVPKFD0O3PL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.90434, + 4.08633, + 8.31931 + ], + "start_rotation": [ + 0, + 0.49619, + 0, + 0.86821 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 29.43938, + "euclidean_distance": 26.76754, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.76882, + 3.28633, + 5.69907 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa" + ] + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:33L7PJKHCI1SJW8XMIXARGTNJYB8TG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.83765, + -0.31367, + -14.50822 + ], + "start_rotation": [ + 0, + 0.92874, + 0, + 0.37073 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.18893, + "euclidean_distance": 6.68458, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07631, + -0.31367, + -11.07145 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_68_newN_1", + "path": [ + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "refined_path": [ + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + [ + "0_edge_311_newN_0" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:32VNZTT0A97EKG836Q22APC0TR3R40", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.95083, + -0.31367, + -6.84331 + ], + "start_rotation": [ + 0, + 0.90502, + 0, + 0.42537 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.78489, + "euclidean_distance": 8.26781, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.11058, + -0.31367, + -5.17711 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "c51baa7dc99849c4934d01a94a268c23", + "path": [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "refined_path": [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3ZWFC4W1UWAOIW5SQ7YL1T9RH8FFRW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.43961, + 3.28633, + 2.98813 + ], + "start_rotation": [ + 0, + 0.71956, + 0, + 0.69443 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.47344, + "euclidean_distance": 7.67454, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.74787, + 3.28633, + 5.74098 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "cc6552274d7e482cbd3bf904d5754203", + "path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d" + ], + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3K3R2QNK8D67XE6WRFTYW8A0L9CU9B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.93976, + 6.68633, + 2.89087 + ], + "start_rotation": [ + 0, + 0.38867, + 0, + 0.92138 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.59569, + "euclidean_distance": 4.32431, + "closest_goal_object_id": 482, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.12549, + 6.83386, + 1.77113 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "2142035ff0ff419f81fed8875fccf577", + "path": [ + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "5e7ad15a2bbd4a55a95560ee0121c222" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "5e7ad15a2bbd4a55a95560ee0121c222" + ], + "refined_path": [ + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577" + ], + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "5e7ad15a2bbd4a55a95560ee0121c222" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3X4MXAO0BIRQTIRNGW8L5HVRDKSWRH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.78588, + 3.42181, + -0.66318 + ], + "start_rotation": [ + 0, + 0.9628, + 0, + -0.2702 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.07345, + "euclidean_distance": 10.3867, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.7534, + 3.48633, + 8.14169 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "a9842ed3d2064064a0c6a8c661916237", + "path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TS1AR6UQSHE0DLDHT0FWCIRG0DF7X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.86106, + 3.88633, + 5.53714 + ], + "start_rotation": [ + 0, + 0.97887, + 0, + -0.2045 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 26.69085, + "euclidean_distance": 24.5954, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.83569, + 3.28633, + 5.76433 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3DBQWDE4Y81B11KBRO4V6XD4SOUN5U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.3336, + 3.88633, + 2.08659 + ], + "start_rotation": [ + 0, + 0.42493, + 0, + 0.90523 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 21.39047, + "euclidean_distance": 19.99642, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.4293, + 3.28633, + 5.6806 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3TYCR1GOTEMJKF1FMZVWI9GAOSWZL5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.70395, + 3.28633, + 4.47603 + ], + "start_rotation": [ + 0, + 0.4561, + 0, + -0.88993 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.71182, + "euclidean_distance": 3.40076, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.20628, + 3.28633, + 6.02584 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3HQUKB7LNHHV7YIVPSARQAJYAEJHHO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.88672, + -0.31367, + -8.68474 + ], + "start_rotation": [ + 0, + 0.28228, + 0, + 0.95933 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.49818, + "euclidean_distance": 5.5283, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.29649, + -0.31367, + -4.16724 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "f5d15314913f4453aca1219437398794", + "path": [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3MTMREQS4XLYU156ELMZAR6HDEHWAI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.93467, + 6.68633, + -1.71239 + ], + "start_rotation": [ + 0, + 0.99789, + 0, + 0.06493 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.26755, + "euclidean_distance": 9.55177, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.26492, + 6.68633, + 6.66564 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "72f2dbee67884e7d9bd70158fe8e66c9", + "path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "AD15OW944ZV20:3C44YUNSI3S68ZBHM9Z68Y6R4HCDP0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.58251, + -0.31367, + -16.01911 + ], + "start_rotation": [ + 0, + 0.70201, + 0, + -0.71217 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.15033, + "euclidean_distance": 7.37118, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.11024, + -0.31367, + -11.25943 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_380_newN_0", + "path": [ + "0_edge_380_newN_0", + "0_edge_380_newN_1", + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_380_newN_0", + "0_edge_380_newN_1", + "0_edge_380_newN_0", + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "refined_path": [ + "0_edge_380_newN_0", + "0_edge_380_newN_1", + [ + "0_edge_380_newN_0" + ], + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3MHW492WW2GMHDEQLE78XGI30LBVMW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.74777, + 3.88633, + 1.50911 + ], + "start_rotation": [ + 0, + 0.4139, + 0, + 0.91032 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 19.84204, + "euclidean_distance": 18.56286, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.26734, + 3.28633, + 5.59687 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3NJM2BJS4Y9W3753MD4VOSO9JFAPCI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 12.14014, + -0.31367, + 0.83347 + ], + "start_rotation": [ + 0, + 0.85387, + 0, + -0.52049 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.97847, + "euclidean_distance": 20.58353, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.05885, + -0.31367, + -6.73234 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3COPXFW7XDFEM5HREQLTCB1HOOIKPP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.32841, + -0.31367, + 9.63518 + ], + "start_rotation": [ + 0, + 0.6092, + 0, + 0.79301 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.08374, + "euclidean_distance": 7.18893, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.15513, + -0.31367, + 2.84281 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "67bfc67489fc45be8e7dcb8b637c566d", + "path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "refined_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + [ + "0_edge_425_newN_0" + ], + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3YMU66OBIPBH72NK5MS95A7XVGUHGH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.73631, + 3.92693, + 5.29109 + ], + "start_rotation": [ + 0, + 0.93292, + 0, + 0.36008 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 28.49239, + "euclidean_distance": 26.47402, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.71309, + 3.28633, + 5.62608 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A28HB7240OFGEW:3ZQIG0FLQGJIMP84PGDV6EKUYQDWVI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.23118, + 3.48633, + -12.75375 + ], + "start_rotation": [ + 0, + 0.9289, + 0, + 0.37033 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.74221, + "euclidean_distance": 2.92296, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.43041, + 3.51092, + -9.99904 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3CFJTT4SXVTYA4N3I160Z9VJXXBI78", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.36823, + -0.31367, + -2.25766 + ], + "start_rotation": [ + 0, + 0.13354, + 0, + -0.99104 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 17.53465, + "euclidean_distance": 15.84664, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.04083, + -0.28447, + -6.1116 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "fd22cb9d82364bbdb6ea4fdb051a7721", + "path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "AW1QY7Q83DYCJ:3AUQQEL7U7WPEZ7JW9KAZJBQXLU0VG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.53147, + 3.88633, + 1.46689 + ], + "start_rotation": [ + 0, + 0.75367, + 0, + 0.65725 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 18.76906, + "euclidean_distance": 17.67128, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05561, + 3.41014, + 7.21142 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3XC1O3LBOUPNY3SGG76EWLFT3WGLTH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.29881, + 6.68633, + 2.98513 + ], + "start_rotation": [ + 0, + 0.54665, + 0, + -0.83736 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 6.76689, + "euclidean_distance": 6.01513, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.93325, + 6.75753, + -0.65272 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "479c8982b70a4ae5be3dcf5148b4c739", + "path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41", + "0_edge_283_newN_1" + ], + "refined_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41", + [ + "0_edge_283_newN_1" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:35DR22AR5FNDZGBBFB3BP26IGA1X3U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.96192, + -0.31367, + -5.57959 + ], + "start_rotation": [ + 0, + 0.58474, + 0, + 0.81122 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.68328, + "euclidean_distance": 7.19727, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.09527, + -0.31367, + 0.51617 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0a3c3886d45044949211b0d0f243b720", + "path": [ + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "refined_path": [ + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + [ + "d8401d8f05d84422a3543e9a1e612d11" + ] + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3Y4W8Q93L1NJDJ8D8L85EQV9RA4DVN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.39268, + 0.08633, + 3.89881 + ], + "start_rotation": [ + 0, + 0.91598, + 0, + -0.40121 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.07228, + "euclidean_distance": 7.47789, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.63697, + 3.48633, + 8.09615 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "d9b3b2d4da2e421ab0bf916e8aef3512", + "path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3AAJC4I4FIVDPPDFJEJJ2U3IJ0GJZ5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.98573, + 3.944, + 8.00137 + ], + "start_rotation": [ + 0, + 0.99782, + 0, + 0.06594 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.38534, + "euclidean_distance": 23.75056, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.66354, + 3.48633, + 8.1792 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "90dcb8a526504454b728d3f7951f153f", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TK8OJTYM3OS2GB3DUZ0EKCY5T4VPG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.01131, + 3.88633, + 2.86485 + ], + "start_rotation": [ + 0, + 0.95267, + 0, + 0.30399 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.23498, + "euclidean_distance": 17.72183, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.10723, + 3.42392, + 7.1651 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:34X6J5FLPV14BXCOWI06B1REETVQJA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.94671, + 6.68633, + 0.45762 + ], + "start_rotation": [ + 0, + 0.37549, + 0, + 0.92683 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.61444, + "euclidean_distance": 5.50035, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.50187, + 6.70096, + 2.00871 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "b02ebc952fcf4ff0942c56b2b3251b44", + "path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + [ + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + }, + { + "episode_id": "A272X64FOZFYLB:34YB12FSQ0R3ZGOVWJ8MXFFTDADGMQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.40495, + 3.88633, + 3.6549 + ], + "start_rotation": [ + 0, + 0.77314, + 0, + 0.63423 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.69475, + "euclidean_distance": 17.92449, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.12021, + 3.42296, + 7.24564 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34J10VATJH18GMSIE0F6Z0CE1HVQIT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.96399, + 3.3294, + 2.08718 + ], + "start_rotation": [ + 0, + 0.93221, + 0, + 0.36191 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 25.48645, + "euclidean_distance": 9.60901, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.19045, + -0.31367, + -5.30182 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "e908015113524e25a0fe06c0f88d6bb2", + "path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VBEN272MM26XB10GG489OEZ4TWGSQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.88925, + 3.48633, + -2.03861 + ], + "start_rotation": [ + 0, + 0.63428, + 0, + 0.7731 + ], + "object_category": "table", + "info": { + "geodesic_distance": 10.20996, + "euclidean_distance": 9.08924, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.35482, + 3.28633, + 6.04197 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "a9842ed3d2064064a0c6a8c661916237", + "path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:36TFCYNS46DSTOIAUWSDTW7SZE7XHN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.2204, + 3.88633, + 3.44833 + ], + "start_rotation": [ + 0, + 0.76736, + 0, + -0.64122 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 15.37814, + "euclidean_distance": 9.44595, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.16612, + 0.2335, + -3.5916 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TXMY6UCAGRH3J6IMQJKOXEJPIOQCH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.7345, + 6.80498, + -5.41855 + ], + "start_rotation": [ + 0, + 0.51603, + 0, + 0.85657 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 4.23462, + "euclidean_distance": 3.64181, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.66747, + 6.88633, + -3.41879 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0_edge_364_newN_0", + "path": [ + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "refined_path": [ + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d" + ], + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ] + }, + { + "episode_id": "A272X64FOZFYLB:30BUDKLTXFY77V7YYP1CGAJVAXN5EF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.34535, + -0.31367, + -9.64935 + ], + "start_rotation": [ + 0, + 0.27348, + 0, + -0.96188 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 25.72439, + "euclidean_distance": 12.30374, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.28689, + 3.48633, + -2.9391 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "858ce8552a0a40b686b4de4bc9eec65c", + "path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3A4NIXBJ782JL82W7A52A7K15P4LMY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.92766, + 3.46739, + -7.90676 + ], + "start_rotation": [ + 0, + 0.22263, + 0, + -0.9749 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.3831, + "euclidean_distance": 16.4443, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.77124, + 3.48633, + 8.12994 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "854eec676352475f90d1fb18677f9a8b", + "path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3M0BCWMB8XZ3DBAYKZMV52QNRX2BWQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 14.08019, + -0.28291, + 2.13953 + ], + "start_rotation": [ + 0, + 0.57465, + 0, + -0.8184 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 26.91638, + "euclidean_distance": 24.27184, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.08485, + -0.31367, + -5.17953 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "193d45e0b5d842e69acc5813e478f614", + "path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "refined_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:33CID57106WIZMUM1S0NE8BV5YL3LY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.04835, + -0.18231, + -1.44139 + ], + "start_rotation": [ + 0, + 0.24884, + 0, + 0.96855 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.97537, + "euclidean_distance": 8.8467, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.17218, + -0.31367, + -5.16767 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "cacc1a7ffed24a21a4ea14a6643d79bb", + "path": [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:30IQTZXKAM9HIOCEWOLSN48B9WRX01", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.81183, + 3.88633, + 6.03911 + ], + "start_rotation": [ + 0, + 0.99972, + 0, + 0.02364 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.5339, + "euclidean_distance": 21.67566, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.79635, + 3.48633, + 8.14776 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3R5F3LQFV4NRQ04CZRBOAQK4FYNZO6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.42785, + 3.3942, + 1.73914 + ], + "start_rotation": [ + 0, + 0.90129, + 0, + -0.43322 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.2725, + "euclidean_distance": 7.51218, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.9112, + 3.28633, + 5.67558 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e908015113524e25a0fe06c0f88d6bb2", + "path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3Z4AIRP3C8GHPDXWS7PS19RLEOJX1Q", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.71292, + 0.13935, + -1.49817 + ], + "start_rotation": [ + 0, + 0.97715, + 0, + -0.21256 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 25.64133, + "euclidean_distance": 6.42156, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.2858, + 3.48633, + -5.76335 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "b86b79b6a66546e58155579ef00b1e7d", + "path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3R2PKQ87NYBHV7UQM78PIRS9OL7MII", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.88231, + 6.68633, + -2.48625 + ], + "start_rotation": [ + 0, + 0.99466, + 0, + 0.10324 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 20.36569, + "euclidean_distance": 7.30366, + "closest_goal_object_id": 589, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.60726, + 6.68633, + -7.3542 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "72f2dbee67884e7d9bd70158fe8e66c9", + "path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d" + ], + "refined_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3VP0C6EFSIZ12NZPK6Z0LO24FUBM6N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.05841, + -0.31367, + -2.50176 + ], + "start_rotation": [ + 0, + 0.68666, + 0, + -0.72698 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.05964, + "euclidean_distance": 17.43656, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.06363, + -0.2318, + -6.19705 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "fd22cb9d82364bbdb6ea4fdb051a7721", + "path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:31JLPPHS2WXQ57XJEKGF6PFP03W3OL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.28998, + 0.30836, + -2.47609 + ], + "start_rotation": [ + 0, + 0.91352, + 0, + -0.4068 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 24.71536, + "euclidean_distance": 6.09856, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.32482, + 3.48633, + -5.80018 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "f97419bd62f6462fbbf8fb8adc4dea29", + "path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "3b67353ba5e64feeb33884037fa14ce6", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "cc6552274d7e482cbd3bf904d5754203", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + [ + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6" + ], + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:36H9ULYP64X7K8MFI2PCZ2N04ZWJFW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.94891, + 3.88633, + 4.22434 + ], + "start_rotation": [ + 0, + 0.31398, + 0, + 0.94943 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 28.24594, + "euclidean_distance": 26.0054, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.79549, + 3.48633, + 8.16331 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:39U1BHVTDNU6IZ2RA12E0ZLCZB9T3T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.99512, + 3.48633, + -12.10716 + ], + "start_rotation": [ + 0, + 0.75381, + 0, + -0.65709 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.89004, + "euclidean_distance": 5.56227, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.43286, + 3.39171, + -6.73861 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "6b3e8eaf98a14207b9ec30d4105938ce", + "path": [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "refined_path": [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3OVR4I9USRME8FT3TBD25Z2VT484QD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.18439, + 3.48633, + -11.54296 + ], + "start_rotation": [ + 0, + 0.03619, + 0, + -0.99934 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 21.86692, + "euclidean_distance": 20.27384, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.68957, + 3.48633, + 8.21985 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "6b3e8eaf98a14207b9ec30d4105938ce", + "path": [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3DQQ64TANIO5H5B8344W0MVC81LWP0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.682, + 6.68633, + 6.62276 + ], + "start_rotation": [ + 0, + 0.99181, + 0, + -0.1277 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.67865, + "euclidean_distance": 4.27032, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.02179, + 6.68633, + 8.39719 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "62ceda9ff3dd4e0f9b63f3b70691d705", + "path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A272X64FOZFYLB:379J5II41QJL9KAJQCHJXZFSWN8ELX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.52403, + 3.88633, + 7.85056 + ], + "start_rotation": [ + 0, + 0.93516, + 0, + 0.35422 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 27.70435, + "euclidean_distance": 24.64753, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.06484, + 3.28633, + 5.94765 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3ZSY5X72NZEIO9ILPAHBONI55E0ROU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.01691, + 3.88633, + 4.043 + ], + "start_rotation": [ + 0, + 0.9015, + 0, + -0.43277 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 19.34537, + "euclidean_distance": 17.42819, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.32319, + 3.28633, + 5.66274 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3T111IHZ5GTFHMEFNLYTRXNGBIHR9Q", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.67523, + 3.88633, + 1.16438 + ], + "start_rotation": [ + 0, + 0.41681, + 0, + 0.90899 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 15.43333, + "euclidean_distance": 14.40527, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.08696, + 3.28633, + 5.69854 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3URFVVM167LM35O9VDNX9WCTXKMUZP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.49926, + 3.88633, + 4.35413 + ], + "start_rotation": [ + 0, + 0.29134, + 0, + -0.95662 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 25.82774, + "euclidean_distance": 23.56547, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.69883, + 3.48633, + 8.17978 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3SLE99ER0PG776F3VM6246K580NBZZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.67842, + 3.398, + 2.29707 + ], + "start_rotation": [ + 0, + 0.55476, + 0, + -0.83201 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 21.4663, + "euclidean_distance": 10.29619, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.34711, + 3.48633, + -5.80595 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39L1G8WVWSU59FQI8II4UT2H7SJ31V", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.10216, + 3.30283, + -6.78347 + ], + "start_rotation": [ + 0, + 0.24685, + 0, + 0.96905 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.76979, + "euclidean_distance": 15.39562, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.71812, + 3.48633, + 8.20192 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "854eec676352475f90d1fb18677f9a8b", + "path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3YMU66OBIPBH72NK5MS95A7XSNYHGW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.51982, + -0.31367, + 8.28061 + ], + "start_rotation": [ + 0, + 0.24607, + 0, + 0.96925 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 28.53204, + "euclidean_distance": 23.7689, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.17365, + -0.31367, + -5.17163 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "9dbeee64e93347bea1a127a7cb3eea03", + "path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "c2f4ac1cd281454d80acbc4d79c12aef", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + [ + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3DQQ64TANIO5H5B8344W0MVC81NPWV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.41992, + -0.31367, + -5.8266 + ], + "start_rotation": [ + 0, + 0.554, + 0, + -0.83252 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.34533, + "euclidean_distance": 8.65689, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.07701, + -0.31367, + -5.14631 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "32f8f90c0eb247758cb6cc576df52a46", + "path": [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A5A14MTB35J23:3PWWM24LHU1YZXEK33DEQTKXFKT82D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.74512, + -0.31367, + 0.95917 + ], + "start_rotation": [ + 0, + 0.50599, + 0, + 0.86254 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.68112, + "euclidean_distance": 10.89721, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.91063, + -0.31009, + -6.05625 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_450_newN_0", + "path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3NPFYT4IZE7ETSNZAQAV8WVRGCEGXJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.21174, + 6.68633, + 7.77053 + ], + "start_rotation": [ + 0, + 0.63109, + 0, + -0.77571 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.48182, + "euclidean_distance": 5.63887, + "closest_goal_object_id": 498, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.54838, + 6.68633, + 3.02908 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:37QW5D2ZRIPR4WVIXISKHBX1DEXS85", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.86945, + 0.16608, + -0.36081 + ], + "start_rotation": [ + 0, + 0.7831, + 0, + 0.62189 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 26.89826, + "euclidean_distance": 6.83959, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.24278, + 3.48633, + -5.83165 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "976a7a79035a4583a10624453174d94e", + "path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "81c89eb6368341109260f88eb14a527e", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3DPNQGW4LNILYXAJE2Z4ZUL4T3Q46A", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.06219, + 6.72746, + -11.49785 + ], + "start_rotation": [ + 0, + 0.60467, + 0, + 0.79647 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.94004, + "euclidean_distance": 8.83747, + "closest_goal_object_id": 496, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.43127, + 6.68633, + -2.66408 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "7feb5839b9dc4b0e94d160c5af69d7c2", + "path": [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ], + "refined_path": [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2" + ], + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + [ + "4ed0dc66de83415196cb59d120b71d55" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:35L9RVQFCQL0CKOFPRHQ9P8O1U3UHX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.23394, + -0.31367, + 9.58242 + ], + "start_rotation": [ + 0, + 0.79744, + 0, + 0.6034 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 29.14457, + "euclidean_distance": 16.22911, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.25751, + 3.48633, + -2.85778 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "67bfc67489fc45be8e7dcb8b637c566d", + "path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + [ + "0_edge_425_newN_0" + ], + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3RYC5T2D75W099UM4AUQDNNVGMARPW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.24696, + 3.28633, + 5.76409 + ], + "start_rotation": [ + 0, + 0.0981, + 0, + -0.99518 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.704, + "euclidean_distance": 4.59905, + "closest_goal_object_id": 334, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.75732, + 3.48633, + 8.83132 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3N1FSUEFL73KJ6PYOP7I50VWAQX4DO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.70927, + -0.31367, + -3.18521 + ], + "start_rotation": [ + 0, + 0.67241, + 0, + 0.74018 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.7315, + "euclidean_distance": 17.87786, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.12774, + -0.31367, + -5.3647 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3II4UPYCOLAR8BCWMMEV83W16IHDQH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.21445, + -0.31367, + 1.24618 + ], + "start_rotation": [ + 0, + 0.73229, + 0, + 0.681 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 20.62953, + "euclidean_distance": 17.5005, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.17525, + -0.31367, + -5.22768 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_438_newN_1", + "path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3Y54SXRO1NOQHTFAPLYFN8BCCO4TUC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.49335, + 6.68633, + -3.15138 + ], + "start_rotation": [ + 0, + 0.39252, + 0, + 0.91974 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 18.51808, + "euclidean_distance": 11.69325, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.17416, + 6.68633, + 8.38122 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "ef22fd41921142d4a36d6354d2e10d23", + "path": [ + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "4ed0dc66de83415196cb59d120b71d55", + "0a7c88b186e6416dad35dadc4154ce93", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + [ + "ef22fd41921142d4a36d6354d2e10d23" + ], + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + [ + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + [ + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55" + ], + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:38F71OA9GVZXLGS0LZ24FUFH8RGFMH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.80291, + 3.94605, + 7.55246 + ], + "start_rotation": [ + 0, + 0.01587, + 0, + 0.99987 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 25.82166, + "euclidean_distance": 22.87363, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.16311, + 3.43719, + 7.1495 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f" + ] + ] + }, + { + "episode_id": "A34CQE6RGU49L7:39GXDJN2OVH7WOCMRDXPSYH8BF9V8O", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.16263, + 3.28633, + 3.61633 + ], + "start_rotation": [ + 0, + 0.89462, + 0, + 0.44682 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.31051, + "euclidean_distance": 3.4562, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.30146, + 3.28633, + 6.07842 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + [ + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + [ + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33LK57MYLV86OSW568SXUVU5BKZSZY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.9887, + -0.91367, + 6.85557 + ], + "start_rotation": [ + 0, + 0.888, + 0, + -0.45985 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.0367, + "euclidean_distance": 13.06929, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.20206, + -0.31367, + 4.48642 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_88_newN_2", + "0_edge_86_newN_0", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1" + ], + "0_edge_86_newN_0", + [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:36W0OB37HYHHYJIPVEGYQHN329JHZ3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.81534, + 4.20129, + 8.84002 + ], + "start_rotation": [ + 0, + 0.9137, + 0, + -0.40639 + ], + "object_category": "table", + "info": { + "geodesic_distance": 27.99372, + "euclidean_distance": 25.32275, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.15973, + 3.28633, + 6.07567 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3AZHRG4CU6N52Q50CZE4GOJ71XQ30Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.42121, + 3.28633, + 3.83846 + ], + "start_rotation": [ + 0, + 0.94508, + 0, + -0.32685 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.38741, + "euclidean_distance": 2.87524, + "closest_goal_object_id": 363, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -5.02444, + 3.48633, + 2.58807 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + [ + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3K9FOBBF2JMP3QNWJBK2NM919CTNL8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.85813, + -0.30328, + -12.64866 + ], + "start_rotation": [ + 0, + 0.35234, + 0, + -0.93587 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.10089, + "euclidean_distance": 8.76372, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.27046, + -0.31367, + -4.10478 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_25_newN_1", + "path": [ + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_385_newN_1", + "0_edge_88_newN_0", + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "0_edge_25_newN_1", + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1" + ], + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63" + ], + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + [ + "41fa201781b6448db96e6a4d4f96041e" + ], + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a" + ], + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "a83bd24881e7417b959c51f84eb6a059", + [ + "0_edge_385_newN_1", + "0_edge_88_newN_0", + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059" + ], + "0_edge_86_newN_0", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "d12a35cb161641318a92f9e5dd8915db", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db" + ], + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + [ + "7bb74d11234146b19b211e4b1c319cbf" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:37WLF8U1WRT6CZZMZUMK6BA0PMF6KU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.89922, + 3.88633, + 1.98517 + ], + "start_rotation": [ + 0, + 0.95992, + 0, + 0.28028 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 26.08974, + "euclidean_distance": 20.63215, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.36294, + 3.48633, + -10.2879 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3LRLIPTPESC7Z1BPP73WMGCMM68AKU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.09598, + 3.88633, + 1.65331 + ], + "start_rotation": [ + 0, + 0.09858, + 0, + -0.99513 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 22.31308, + "euclidean_distance": 21.015, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.18572, + 3.43945, + 7.20783 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3PS7W85Z815SX1R7RA3ORCOYYZV9TT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.35268, + -0.31367, + -10.76787 + ], + "start_rotation": [ + 0, + 0.64742, + 0, + 0.76213 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.99036, + "euclidean_distance": 7.54749, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.3439, + -0.31367, + -4.22624 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "f1c591c0bc7b43b1896d6c65eaa1f561", + "path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3U5JL4WY5MCYHCUFFP8UZ7YOQ59X4D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.20415, + 0.27406, + -3.37846 + ], + "start_rotation": [ + 0, + 0.52555, + 0, + 0.85076 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.94732, + "euclidean_distance": 2.53099, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.77176, + -0.31367, + -2.74754 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "682b19fbab024b3ca81f62cd4d287ca7", + "path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7" + ], + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f" + ] + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3PS7W85Z815SX1R7RA3ORCOYY0UT9E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.95345, + 3.88633, + 3.86229 + ], + "start_rotation": [ + 0, + 0.49711, + 0, + -0.86769 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 18.18699, + "euclidean_distance": 16.36869, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.14598, + 3.432, + 7.17766 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:345LHZDEDZVLICHGA6SO5V7EINFU3G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.74597, + 6.68633, + -1.08678 + ], + "start_rotation": [ + 0, + 0.3923, + 0, + 0.91984 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 6.63245, + "euclidean_distance": 5.33474, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.59809, + 6.72133, + -1.1323 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0a7c88b186e6416dad35dadc4154ce93", + "path": [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "152355d224574b17b3be41aa6edf2b41" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "refined_path": [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + [ + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1" + ], + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1", + [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + [ + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "152355d224574b17b3be41aa6edf2b41" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3JCG6DTRV5TLXKG1R8KF8230OTAQQU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.0524, + -0.31367, + -11.09376 + ], + "start_rotation": [ + 0, + 0.99379, + 0, + -0.11124 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.75027, + "euclidean_distance": 6.94944, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.24978, + -0.31367, + -4.20733 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_83_newN_0", + "path": [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a" + ], + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "5395b0d960da4a10a3fa76ec47a060f5" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:36H9ULYP64X7K8MFI2PCZ2N04XXFJP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.30369, + 6.68633, + 6.02062 + ], + "start_rotation": [ + 0, + 0.91333, + 0, + -0.40721 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 14.03293, + "euclidean_distance": 7.34479, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.04625, + 6.72143, + -0.87751 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "e34627d6e1e740b88b2fcb25d08e4029", + "path": [ + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f", + "0_edge_258_newN_1", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f", + "0_edge_258_newN_1", + [ + "e34627d6e1e740b88b2fcb25d08e4029" + ], + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3KOPY89HMA5C4W6MY7OAYTY306AJ3Z", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.01691, + 3.88633, + 4.043 + ], + "start_rotation": [ + 0, + 0.9015, + 0, + -0.43277 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 19.34537, + "euclidean_distance": 17.42819, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.32319, + 3.28633, + 5.66274 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3DH6GAKTY0S3KE8E5EKMCHI6S59YZW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.29568, + -0.31367, + -11.05875 + ], + "start_rotation": [ + 0, + 0.26726, + 0, + -0.96362 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.13998, + "euclidean_distance": 12.15604, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.94217, + -0.29144, + -6.43001 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0_edge_15_newN_1", + "path": [ + "0_edge_15_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_15_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0_edge_15_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3JWH6J9I9UGDQH1KSYV89JDWXIOBNI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -26.70494, + 4.64994, + 11.10689 + ], + "start_rotation": [ + 0, + 0.93998, + 0, + 0.34122 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 27.70422, + "euclidean_distance": 25.94431, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.76111, + 3.28633, + 4.08577 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3YT88D1N0A17FGC4GSOMZ8YGFVD3KL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.93136, + 6.68633, + -2.8696 + ], + "start_rotation": [ + 0, + 0.82447, + 0, + 0.56591 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.30022, + "euclidean_distance": 8.1315, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.00523, + 6.71556, + -0.93774 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "72f2dbee67884e7d9bd70158fe8e66c9", + "path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "refined_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:386CSBG1O1PSN2XHCZ6H2XM9OSQ6Q5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.72501, + 6.68633, + -4.72717 + ], + "start_rotation": [ + 0, + 0.83579, + 0, + -0.54905 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.65459, + "euclidean_distance": 3.02836, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.56719, + 6.68633, + -1.77744 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "4ed0dc66de83415196cb59d120b71d55", + "path": [ + "4ed0dc66de83415196cb59d120b71d55", + "ef22fd41921142d4a36d6354d2e10d23", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9f02cc693511409ea77d000606f10f1d", + "9977d41540f44813becd1f319db571ef", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "ef22fd41921142d4a36d6354d2e10d23", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "refined_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "ef22fd41921142d4a36d6354d2e10d23", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + [ + "9b0ea58d8244411592f46e0c560d8595" + ], + "9f02cc693511409ea77d000606f10f1d", + [ + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23" + ], + "9977d41540f44813becd1f319db571ef", + [ + "4ed0dc66de83415196cb59d120b71d55" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3WOKGM4L73JUOFYMVXYW4RHIXPO0OV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.03736, + 4.00108, + 7.24521 + ], + "start_rotation": [ + 0, + 0.67313, + 0, + -0.73952 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 26.97322, + "euclidean_distance": 24.17739, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06425, + 3.41296, + 7.19291 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3E7TUJ2EGEPLGCVA5K39M86CVE5D9E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.43822, + -0.56703, + -0.49398 + ], + "start_rotation": [ + 0, + 0.9529, + 0, + 0.30328 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 15.15905, + "euclidean_distance": 14.16677, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.20986, + -0.31367, + 4.47381 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0_edge_384_newN_0", + "path": [ + "0_edge_384_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_384_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0_edge_384_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_86_newN_1", + "0_edge_86_newN_0", + [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + [ + "0_edge_384_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:351SEKWQS2K0NWE4UT7ERUCWWEWDM0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.10744, + -0.31367, + 9.72116 + ], + "start_rotation": [ + 0, + 0.10403, + 0, + 0.99457 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.65066, + "euclidean_distance": 17.87117, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.92933, + -0.31367, + -6.79138 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3TY7ZAOG5HNBYOD7X563XA09DKN0KK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.00756, + 3.88633, + -0.68421 + ], + "start_rotation": [ + 0, + 0.88968, + 0, + 0.45659 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 20.34359, + "euclidean_distance": 19.26357, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.06045, + 3.28633, + 5.96944 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3A0EX8ZRNAR72G5YZ04JQZB3128YBB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.70273, + -0.31367, + -3.09023 + ], + "start_rotation": [ + 0, + 0.66024, + 0, + 0.75106 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 5.55721, + "euclidean_distance": 4.29243, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.73505, + -0.31367, + -6.54723 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0_edge_130_newN_0", + "path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:38F71OA9GVZXLGS0LZ24FUFH7QOMFT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.37396, + 4.08633, + 7.16543 + ], + "start_rotation": [ + 0, + 0.74582, + 0, + -0.66614 + ], + "object_category": "table", + "info": { + "geodesic_distance": 27.01693, + "euclidean_distance": 24.74594, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.27986, + 3.28633, + 6.05859 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3HRMW88U18T6OCDAIHJJCNSD1OOM0E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.77828, + -0.88342, + 6.17527 + ], + "start_rotation": [ + 0, + 0.77287, + 0, + -0.63456 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.31885, + "euclidean_distance": 9.6696, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.27369, + -0.31367, + 4.52142 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A5A14MTB35J23:36TFCYNS46DSTOIAUWSDTW7SVA4HXS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.24043, + 6.75503, + -1.55952 + ], + "start_rotation": [ + 0, + 0.93084, + 0, + -0.36542 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.43689, + "euclidean_distance": 10.87418, + "closest_goal_object_id": 528, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.49979, + 6.68633, + 7.01352 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "152355d224574b17b3be41aa6edf2b41", + "path": [ + "152355d224574b17b3be41aa6edf2b41", + "5e7ad15a2bbd4a55a95560ee0121c222", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "890c5356b4da4a418e223fc9e366bf89", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "152355d224574b17b3be41aa6edf2b41", + "5e7ad15a2bbd4a55a95560ee0121c222", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "152355d224574b17b3be41aa6edf2b41", + "5e7ad15a2bbd4a55a95560ee0121c222", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + [ + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55" + ], + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3R5F3LQFV4NRQ04CZRBOAQK4EVHZOT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.97124, + -0.31367, + -1.94058 + ], + "start_rotation": [ + 0, + 0.31562, + 0, + -0.94889 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.99423, + "euclidean_distance": 9.39858, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.87695, + -0.31367, + 6.96966 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "fd22cb9d82364bbdb6ea4fdb051a7721", + "path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "refined_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TOK3KHVJVL86QY6GWJ5J6R542V7O0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.82444, + 3.88633, + 3.27764 + ], + "start_rotation": [ + 0, + 0.75684, + 0, + -0.6536 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 24.34109, + "euclidean_distance": 22.69217, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.716, + 3.28633, + 5.63318 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A75XDPFNICR3T:37W3JXSD68BZQJ39UR0FDDOOB3GWYF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.07416, + -0.31367, + 0.60365 + ], + "start_rotation": [ + 0, + 0.85692, + 0, + -0.51545 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.43803, + "euclidean_distance": 3.94388, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.42067, + -0.31367, + 4.55252 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_367_newN_2", + "0_edge_311_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3H0W84IWBM5WCI5WVWEFJBOR1C3ERM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.3429, + 3.88633, + 4.34382 + ], + "start_rotation": [ + 0, + 0.46487, + 0, + -0.88538 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 24.33331, + "euclidean_distance": 16.70974, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.99739, + 0.29291, + -3.55413 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d" + ], + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3X31TUMD7ZPMPJG7EOM4QFWY6BNL1X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.44973, + 3.88633, + 4.66685 + ], + "start_rotation": [ + 0, + 0.85687, + 0, + -0.51554 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 25.11466, + "euclidean_distance": 23.20834, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.6896, + 3.28633, + 5.65892 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3H7Z272LX9AP6BZ9ZQXURBEW9R2PLE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.9149, + 6.68633, + -2.72577 + ], + "start_rotation": [ + 0, + 0.91656, + 0, + -0.39991 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.4342, + "euclidean_distance": 2.74719, + "closest_goal_object_id": 593, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.08084, + 6.68633, + -4.80189 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0_edge_365_newN_2", + "path": [ + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "ef22fd41921142d4a36d6354d2e10d23", + "4ed0dc66de83415196cb59d120b71d55" + ], + "refined_path": [ + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + [ + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23" + ], + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "ef22fd41921142d4a36d6354d2e10d23", + "4ed0dc66de83415196cb59d120b71d55" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3LOTDFNYA92TQSMEP18ROSH85SVWFN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.90141, + -0.31367, + 8.51129 + ], + "start_rotation": [ + 0, + 0.8786, + 0, + 0.47755 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 12.4411, + "euclidean_distance": 11.54977, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.79792, + 0.15872, + 0.92496 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "0_edge_75_newN_1", + "10_edge_229_newN_0", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "0_edge_75_newN_1", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "0_edge_75_newN_1", + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "dbef8aac0198493597e8e5aec0de17cb", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ] + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:36DSNE9QZ711QLZ8H582MWWEVXVOJO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.68671, + 3.88633, + 3.67409 + ], + "start_rotation": [ + 0, + 0.88314, + 0, + -0.46911 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 20.26431, + "euclidean_distance": 18.5377, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.82358, + 3.28633, + 5.75646 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QY5DC2MXTNGYOX9U1TQ64WBKC2FUP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.10813, + 3.28633, + 5.45055 + ], + "start_rotation": [ + 0, + 0.28815, + 0, + 0.95758 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 20.12163, + "euclidean_distance": 16.08505, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.088, + 3.59554, + -10.23756 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "5f04c594ab574a4b9f4535abdfab07e0", + "path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "0_edge_450_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + [ + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3W8CV64QJ422SS0CRGMZDTLAO72H9Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.60645, + -0.27081, + 2.38673 + ], + "start_rotation": [ + 0, + 0.88002, + 0, + -0.47494 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 17.85046, + "euclidean_distance": 14.00397, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.01006, + -0.31367, + -6.76821 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "72c76f63e9124253b87ef7fe0b85ef85", + "path": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3Q5ZZ9ZEVQIQYUX7LMFCO0N9YR658Q", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -28.60811, + 4.08148, + 6.96706 + ], + "start_rotation": [ + 0, + 0.19445, + 0, + -0.98091 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.84488, + "euclidean_distance": 27.02344, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.80119, + 3.28633, + 4.02912 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3CTOC39K39TU5F790JR0BAAJ58T7JP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.85294, + 6.68633, + -8.11767 + ], + "start_rotation": [ + 0, + 0.48717, + 0, + -0.87331 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.57403, + "euclidean_distance": 8.96231, + "closest_goal_object_id": 493, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.32787, + 6.88633, + 0.604 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "57180afbe3c341b18a9483752afb6f9a", + "path": [ + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0a7c88b186e6416dad35dadc4154ce93", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "refined_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TY7ZAOG5HNBYOD7X563XA09CJF0K9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.69655, + -0.31367, + 0.58182 + ], + "start_rotation": [ + 0, + 0.21918, + 0, + 0.97569 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.44044, + "euclidean_distance": 2.28153, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.2283, + -0.31367, + 2.04573 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "bc28e77e30a94f76aee87ac07949ecc4", + "path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "refined_path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3A1COHJ8NLY2ENH2MOGLDXQZ3008HD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.6815, + 3.88633, + 6.70756 + ], + "start_rotation": [ + 0, + 0.87577, + 0, + -0.48273 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 28.40851, + "euclidean_distance": 26.02601, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.30674, + 3.28633, + 5.68597 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:39N5ACM9HGQU59Y0ATU4M2N1AY5P94", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.77424, + 0.08633, + -2.95852 + ], + "start_rotation": [ + 0, + 0.93352, + 0, + 0.35854 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.94436, + "euclidean_distance": 14.20482, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.25053, + -0.31367, + 7.1369 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "b0ed9edb0520444da200f5f5c1f92e4c", + "path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "21dca84e46e74021858b7343d8200182", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "refined_path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + "0_edge_130_newN_0", + [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "7bb74d11234146b19b211e4b1c319cbf", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + [ + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3634BBTX0QXBPX290K4CN180QHYFI0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.04752, + 4.81028, + -4.21271 + ], + "start_rotation": [ + 0, + 0.56014, + 0, + -0.8284 + ], + "object_category": "table", + "info": { + "geodesic_distance": 12.03549, + "euclidean_distance": 9.56176, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.26186, + 3.48838, + -9.95701 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "2123d2d754d741d2b1de4ea8328bba51", + "path": [ + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + [ + "2985a27f4c174730b22ccb0f29699f36" + ], + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:39LOEL67OU8NKFA373RJ93PPKVO83C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.60895, + 3.88633, + 5.1674 + ], + "start_rotation": [ + 0, + 0.58074, + 0, + 0.81409 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 28.79173, + "euclidean_distance": 26.7536, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.10867, + 3.28633, + 4.67491 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3IO1LGZLKB0MHYXLQ5PHG619UMQ86I", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.98836, + 3.88633, + 6.20004 + ], + "start_rotation": [ + 0, + 0.92188, + 0, + -0.38747 + ], + "object_category": "table", + "info": { + "geodesic_distance": 22.53297, + "euclidean_distance": 20.33009, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.21115, + 3.28633, + 6.082 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "90dcb8a526504454b728d3f7951f153f", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3KRVW3HTZPO6PLXMRJ23MTYWWG9MS3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.57818, + -0.31367, + -0.32335 + ], + "start_rotation": [ + 0, + 0.43144, + 0, + -0.90214 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.44079, + "euclidean_distance": 7.74417, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.77558, + -0.31367, + 6.83692 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "1e87a0b7776d48c7a05569b182f8c3a4", + "path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_130_newN_1", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "refined_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:35GMH2SV3GKTF5DG34XBPGJMRQHOEO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.76178, + 3.88633, + 7.62833 + ], + "start_rotation": [ + 0, + 0.98023, + 0, + 0.19787 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 28.5863, + "euclidean_distance": 18.82466, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.21055, + 0.22123, + -3.56952 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81" + ], + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37Q970SNZGB9TWBXYXJ521ATY5KS17", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.21792, + 3.88633, + 0.02319 + ], + "start_rotation": [ + 0, + 0.957, + 0, + -0.29008 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 17.58506, + "euclidean_distance": 16.01622, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.16114, + 3.28633, + 4.53118 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + [ + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3OVR4I9USRME8FT3TBD25Z2VS1MQ46", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 22.59107, + -0.71367, + 3.6212 + ], + "start_rotation": [ + 0, + 0.26885, + 0, + 0.96318 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.40118, + "euclidean_distance": 4.31795, + "closest_goal_object_id": 8, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 19.44475, + -0.91367, + 0.57882 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_444_newN_1", + "path": [ + "0_edge_444_newN_1", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_88_newN_2", + "2fa65a1236d3450098b17c1855224b9a" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_444_newN_1", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a" + ], + "refined_path": [ + "0_edge_444_newN_1", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a" + ], + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "2fa65a1236d3450098b17c1855224b9a" + ] + }, + { + "episode_id": "A1T7EB1WEDCMXV:3MYYFCXHJ5ANVQZPQF8QBLYTNFH4GW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 17.95337, + -0.91367, + 0.82115 + ], + "start_rotation": [ + 0, + 0.10388, + 0, + 0.99459 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 27.81473, + "euclidean_distance": 26.41195, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.00373, + -0.31367, + -7.87309 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "b47347c7d04e40d084f4f3715e166330", + "path": [ + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3FDJT1UU76BATVZ8UBCFE5W0TQLK57", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.03465, + -0.31367, + -6.18635 + ], + "start_rotation": [ + 0, + 0.06941, + 0, + 0.99759 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.59142, + "euclidean_distance": 6.97698, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.26893, + -0.31367, + -4.11227 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_262_newN_1", + "path": [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "5395b0d960da4a10a3fa76ec47a060f5" + ] + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3ZWFC4W1UWAOIW5SQ7YL1T9RDDYFRL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.13549, + 6.68633, + 1.28894 + ], + "start_rotation": [ + 0, + 0.6811, + 0, + -0.73219 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.46963, + "euclidean_distance": 4.53848, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.47401, + 6.69864, + 1.96046 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "b02ebc952fcf4ff0942c56b2b3251b44", + "path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3FTYUGLFSWO2FPTY2UQSAS1AAJFD5J", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.0341, + -0.31367, + -4.93979 + ], + "start_rotation": [ + 0, + 0.90244, + 0, + 0.43081 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.24384, + "euclidean_distance": 15.14233, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.17169, + -0.31367, + -5.55239 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "634ddf341f6443118bea4195d06c6555", + "path": [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a" + ], + "refined_path": [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3X31TUMD7ZPMPJG7EOM4QFWY6BZL19", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.16512, + 3.88633, + -0.25342 + ], + "start_rotation": [ + 0, + 0.0055, + 0, + -0.99998 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 19.67485, + "euclidean_distance": 14.05401, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.32067, + 3.48633, + -10.21031 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3BEFOD78W8WNN0VB1I6LOQIQI0KM4A", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.1088, + -0.91367, + 7.8321 + ], + "start_rotation": [ + 0, + 0.99988, + 0, + 0.01552 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 21.63648, + "euclidean_distance": 17.87572, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.58391, + -0.31367, + -2.7128 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3AMW0RGHOF5FUB2UB3D943ILEM2PNG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -27.31925, + 4.57231, + 10.0192 + ], + "start_rotation": [ + 0, + 0.93638, + 0, + 0.35099 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 27.74155, + "euclidean_distance": 26.26886, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.68626, + 3.28633, + 4.15655 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EFE17QCRE8KX7WB0MMQUOQ0FU3SHT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.37336, + -0.31367, + 3.10614 + ], + "start_rotation": [ + 0, + 0.94831, + 0, + 0.31734 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.03732, + "euclidean_distance": 3.59307, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.30799, + -0.31367, + 1.15109 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_438_newN_0", + "path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "fb7e82f5b99340eabb9a579772176b33" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3QBD8R3Z23MBN3GNEYLYGU7VD024OA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.75154, + 3.88633, + 2.30264 + ], + "start_rotation": [ + 0, + 0.99281, + 0, + -0.1197 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 16.24793, + "euclidean_distance": 14.89133, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.81264, + 3.28633, + 5.69205 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3WR9XG3T65E42XOOXC4W58L0NBX47P", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.51302, + 3.92457, + 0.37729 + ], + "start_rotation": [ + 0, + 0.71022, + 0, + 0.70398 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 20.46904, + "euclidean_distance": 15.02523, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.00935, + 3.58202, + -10.28544 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2FRVUNDQQY7S9:34QN5IT0T1UR3NB6OG9075RIHJ4089", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.13842, + 6.68633, + 2.65008 + ], + "start_rotation": [ + 0, + 0.71993, + 0, + -0.69405 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.5458, + "euclidean_distance": 3.34975, + "closest_goal_object_id": 499, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.98221, + 6.78821, + -0.40627 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f2e70fe81e7241139c7483b3d09cdc2f", + "path": [ + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0" + ], + "refined_path": [ + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "f2e70fe81e7241139c7483b3d09cdc2f" + ], + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ] + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3YT88D1N0A17FGC4GSOMZ8YGFVNK3C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.16066, + 3.28633, + 4.31965 + ], + "start_rotation": [ + 0, + 0.5644, + 0, + 0.8255 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 21.40022, + "euclidean_distance": 15.91977, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.35036, + 3.48633, + -10.10747 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3BEFOD78W8WNN0VB1I6LOQIQJ184MJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.51613, + 4.08633, + 3.39814 + ], + "start_rotation": [ + 0, + 0.98839, + 0, + 0.15193 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.55837, + "euclidean_distance": 8.68815, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.09114, + 0.25966, + -3.55303 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:35K3O9HUADGZ9S0N41EL2MA8ZPAEFC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.0694, + 3.88633, + 6.69743 + ], + "start_rotation": [ + 0, + 0.97542, + 0, + -0.22037 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 23.9788, + "euclidean_distance": 21.21681, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.22096, + 3.44089, + 7.34237 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3VD82FOHKSREI7T27DRGZSJJ5CHCOR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.49079, + 0.08633, + -7.6788 + ], + "start_rotation": [ + 0, + 0.60741, + 0, + 0.79439 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.15736, + "euclidean_distance": 7.96529, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.26182, + -0.31367, + -4.29561 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_262_newN_0", + "path": [ + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1" + ], + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + [ + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "5395b0d960da4a10a3fa76ec47a060f5" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QXNC7EIPKYRHSUGT8FE71MT2QE09T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.07883, + 6.68633, + -0.64781 + ], + "start_rotation": [ + 0, + 0.99886, + 0, + -0.04775 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.35012, + "euclidean_distance": 8.48912, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.95237, + 6.68633, + 5.44508 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_128_newN_1", + "path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "refined_path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + [ + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ] + ] + }, + { + "episode_id": "ANFWGSQ8BQRZ:3CP1TO84PV4FCFVI556BE9A6CR725D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.23218, + 4.01742, + 7.37988 + ], + "start_rotation": [ + 0, + 0.6402, + 0, + -0.76821 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 22.03179, + "euclidean_distance": 20.75311, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.72572, + 3.28633, + 4.07743 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3TPZPLC3M2F8Q79KTKTUVPKFA65P3X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -24.39765, + 4.29296, + 9.30459 + ], + "start_rotation": [ + 0, + 0.9128, + 0, + 0.4084 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 29.82042, + "euclidean_distance": 26.55688, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.1059, + 3.41891, + 7.26346 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "A101U3FTZYY87V:3Z4XG4ZF4AUZ0DHHRSY7GJETSRG8X6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -24.28687, + 4.22914, + 8.76773 + ], + "start_rotation": [ + 0, + 0.19774, + 0, + -0.98025 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 29.61162, + "euclidean_distance": 26.47131, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05989, + 3.41066, + 7.22042 + ] + }, + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "139cf2b84c594863a0e437a5ff3caa6e", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + [ + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3PJUZCGDJ8J9ZHZJOCST0GSBB5J895", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.59278, + 0.08633, + -3.01041 + ], + "start_rotation": [ + 0, + 0.61343, + 0, + 0.78975 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.22179, + "euclidean_distance": 2.66541, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.1051, + -0.31367, + -5.18517 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "b0ed9edb0520444da200f5f5c1f92e4c", + "path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3PXX5PX6LZ166Y7VJUQ3NDTWPYFBAP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.68391, + -0.31367, + -0.12252 + ], + "start_rotation": [ + 0, + 0.81706, + 0, + -0.57655 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 24.79981, + "euclidean_distance": 13.81706, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.31967, + 3.48633, + -2.88921 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:31QTRG6Q2VG96A68I5MKLJGS9NWYPU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.53041, + -0.31367, + -1.19133 + ], + "start_rotation": [ + 0, + 0.20214, + 0, + 0.97936 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 19.7252, + "euclidean_distance": 18.38457, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.88019, + -0.31367, + -6.63962 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:34S9DKFK75S93PUV2Q9SHUBWVJUNYS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.25058, + 3.56932, + 2.8062 + ], + "start_rotation": [ + 0, + 0.12442, + 0, + -0.99223 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.32808, + "euclidean_distance": 5.68399, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.66745, + 3.28633, + 4.0997 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JMSRU9HQKXO5PMD4GJPK8DUDSMEVW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.56042, + -0.91367, + 8.36346 + ], + "start_rotation": [ + 0, + 0.9501, + 0, + 0.31194 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 15.46587, + "euclidean_distance": 9.45354, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 10.22866, + -0.31367, + 3.86177 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3GGAI1SQEX1QI48QUXC37OUEOIBMCL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.96819, + 3.88633, + 2.16652 + ], + "start_rotation": [ + 0, + 0.99246, + 0, + -0.12253 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 27.57063, + "euclidean_distance": 14.99606, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.26016, + 3.48633, + -5.8251 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3MH9DQ757YFMCOT45LZ8OPWMYL9UG9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.48552, + -0.31367, + -14.34766 + ], + "start_rotation": [ + 0, + 0.01813, + 0, + 0.99984 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.20351, + "euclidean_distance": 1.91266, + "closest_goal_object_id": 163, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.29849, + -0.31367, + -12.83711 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "2541575c89e8441da0419900ff2388dd", + "path": [ + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0" + ], + "refined_path": [ + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd" + ], + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:35USIKEBNTJ7K5KPW7E0Y3R3US76NH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.6255, + 3.48633, + -6.09416 + ], + "start_rotation": [ + 0, + 0.39819, + 0, + -0.9173 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.32137, + "euclidean_distance": 7.90305, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.71663, + 0.11556, + 0.15861 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "854eec676352475f90d1fb18677f9a8b", + "path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31N2WW6R9TTWZUKQFHXPJV6B1A43F7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.02361, + 3.28633, + 2.08919 + ], + "start_rotation": [ + 0, + 0.90167, + 0, + 0.43242 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.00304, + "euclidean_distance": 5.15952, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.33099, + 3.28633, + 6.08255 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "139cf2b84c594863a0e437a5ff3caa6e", + "path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + [ + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:392CY0QWG3U1RH5KG38TWXB9SEF4IS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.33578, + -0.31367, + -12.38391 + ], + "start_rotation": [ + 0, + 0.37512, + 0, + -0.92697 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 27.5323, + "euclidean_distance": 13.96557, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.25111, + 3.48633, + -2.86868 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "b6a9f93f5e264750ad8159d4b93ac177", + "path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2" + ], + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:374TNBHA8DYU6M7NII19LO62EDCYQ3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.63147, + 3.88633, + 2.36047 + ], + "start_rotation": [ + 0, + 0.32039, + 0, + -0.94729 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.61833, + "euclidean_distance": 18.33993, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.27236, + 3.28633, + 6.10698 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31JLPPHS2WXQ57XJEKGF6PFOCOZ3O4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.17145, + -0.31367, + -9.40912 + ], + "start_rotation": [ + 0, + 0.30808, + 0, + -0.95136 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.57712, + "euclidean_distance": 4.77233, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.20253, + -0.31367, + -13.67513 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "f5d15314913f4453aca1219437398794", + "path": [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "refined_path": [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4" + ] + }, + { + "episode_id": "A272X64FOZFYLB:35H6S234SC33UGEJS7IE4MRH5V8565", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.09353, + -0.31367, + -13.30682 + ], + "start_rotation": [ + 0, + 0.89017, + 0, + 0.45563 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.67278, + "euclidean_distance": 15.2889, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.15698, + -0.31367, + -5.58272 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "d359f126c7b6433c92afc8ee3f327f59", + "path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3UXUOQ9OKG0J4M456DENIB7090B7A9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.89311, + 4.08633, + 8.04237 + ], + "start_rotation": [ + 0, + 0.13961, + 0, + 0.99021 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 29.03722, + "euclidean_distance": 25.66037, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.62963, + 3.48633, + 8.08834 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3H7XDTSHKEUZ4SI90LE96DHK0MSGWR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.89222, + 6.68633, + -5.1251 + ], + "start_rotation": [ + 0, + 0.94005, + 0, + -0.34103 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.78506, + "euclidean_distance": 3.43206, + "closest_goal_object_id": 496, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.13063, + 6.68633, + -2.23088 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_364_newN_0", + "path": [ + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + [ + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3WYP994K19U1W4O339NBFJPBHD76YQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.12473, + -0.23259, + 6.17473 + ], + "start_rotation": [ + 0, + 0.25043, + 0, + 0.96814 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 4.87956, + "euclidean_distance": 4.33169, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.80345, + -0.31367, + 6.80501 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "60ddff235ac44416b783febc3fa613b6", + "path": [ + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "refined_path": [ + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + [ + "60ddff235ac44416b783febc3fa613b6" + ], + "4486a4f9a25742c98cdd93b72fb3220e", + [ + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0" + ], + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3B837J3LDQZXM1AEWRYK8SS6WHGSRR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.90275, + -0.31367, + -2.99324 + ], + "start_rotation": [ + 0, + 0.56645, + 0, + 0.8241 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.75516, + "euclidean_distance": 7.16221, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.96661, + -0.31367, + -6.65437 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "5395b0d960da4a10a3fa76ec47a060f5", + "path": [ + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:36ZN444YTT15VAF2ZNN2AVHDVG6IOD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.62984, + -0.31367, + -5.63209 + ], + "start_rotation": [ + 0, + 0.65997, + 0, + 0.75129 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 2.01068, + "euclidean_distance": 1.89299, + "closest_goal_object_id": 124, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.19385, + -0.31367, + -7.49409 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0_edge_53_newN_0", + "path": [ + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794" + ], + "refined_path": [ + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:31JLPPHS2WXQ57XJEKGF6PFOCO13O6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.89673, + 6.68633, + 7.13916 + ], + "start_rotation": [ + 0, + 0.85156, + 0, + -0.52426 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.66813, + "euclidean_distance": 6.17321, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.49395, + 6.70082, + 1.98089 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "33bea45604484e13bdaf280b2e8de538", + "path": [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "36851a5222e54eb288084a0f3e55340e", + "e34627d6e1e740b88b2fcb25d08e4029" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + [ + "33bea45604484e13bdaf280b2e8de538" + ], + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + [ + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538" + ], + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386" + ], + "e34627d6e1e740b88b2fcb25d08e4029", + [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:30OG32W0SWEBXKD42PXYARJHUPRNEY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.46931, + 3.48633, + -9.64993 + ], + "start_rotation": [ + 0, + 0.15181, + 0, + -0.98841 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.91031, + "euclidean_distance": 5.29216, + "closest_goal_object_id": 382, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.83331, + 3.48633, + -8.87388 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "70be058041854ca4bcfae120bfb3fba0", + "path": [ + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A2WSBG3CWPCLYZ:3OS46CRSLH2KSATYYY0R8KLHZ1M6V8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.80803, + 4.08633, + 3.8537 + ], + "start_rotation": [ + 0, + 0.87765, + 0, + -0.4793 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 29.33036, + "euclidean_distance": 10.14596, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.16755, + -0.31367, + -5.18743 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "0_edge_185_newN_1", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3OJSZ2ATDUZMYGSOBHN6A0REEN857Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.80525, + 3.28633, + 5.96233 + ], + "start_rotation": [ + 0, + 0.95584, + 0, + 0.29389 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 17.91397, + "euclidean_distance": 11.654, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.93158, + 0.30668, + -3.60205 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "318bfec461484262a597cc8fedffecb7", + "path": [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7" + ], + "refined_path": [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "682b19fbab024b3ca81f62cd4d287ca7" + ] + ] + }, + { + "episode_id": "A28HB7240OFGEW:3OS4RQUCRBI12PO3UACV1E4NM8OBFM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.8386, + 3.94201, + 1.22123 + ], + "start_rotation": [ + 0, + 0.92694, + 0, + 0.37522 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.0092, + "euclidean_distance": 12.82929, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.10416, + 3.28633, + 5.96575 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + [ + "90dcb8a526504454b728d3f7951f153f" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3MMN5BL1W17254C71412ELQJFN8M3S", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.5873, + 3.88633, + 4.49156 + ], + "start_rotation": [ + 0, + 0.89333, + 0, + -0.4494 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.99888, + "euclidean_distance": 20.67206, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.76811, + 3.48633, + 8.13637 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3W8CV64QJ422SS0CRGMZDTLAHJYH9B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.39943, + 4.00499, + -0.08219 + ], + "start_rotation": [ + 0, + 0.3733, + 0, + 0.92771 + ], + "object_category": "table", + "info": { + "geodesic_distance": 12.3681, + "euclidean_distance": 11.50272, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.39232, + 3.28633, + 6.09615 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + [ + "5a17727c63bb4c64bd10875f8d652009" + ], + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3ZQIG0FLQGJIMP84PGDV6EKT6BEVWU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.45591, + 0.20903, + 5.97249 + ], + "start_rotation": [ + 0, + 0.57947, + 0, + -0.81499 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.36308, + "euclidean_distance": 4.19551, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.00947, + -0.31367, + 2.09237 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "d9b3b2d4da2e421ab0bf916e8aef3512", + "path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "refined_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512" + ], + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + [ + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512" + ], + "b31ae8536d72434ea33243b17fc0dee0", + [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ] + ] + }, + { + "episode_id": "A3G3TIX6FEMN8R:333U7HK6IBIAMO8JRWUMB2KFI1MJDB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.66844, + 3.34536, + -0.88682 + ], + "start_rotation": [ + 0, + 0.49129, + 0, + -0.871 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.29082, + "euclidean_distance": 10.34604, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.09073, + 3.28633, + 5.9946 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "bacef43d28c74751a7bd62578d443053", + "path": [ + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3WOKGM4L73JUOFYMVXYW4RHH7UKO0X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.91523, + 4.03297, + 4.63407 + ], + "start_rotation": [ + 0, + 0.6544, + 0, + -0.75614 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 17.41473, + "euclidean_distance": 16.2927, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.35217, + 3.48633, + -10.31118 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + [ + "5a17727c63bb4c64bd10875f8d652009" + ], + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3AAJC4I4FIVDPPDFJEJJ2U3I9HAZJ3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.64668, + -0.21576, + 3.14818 + ], + "start_rotation": [ + 0, + 0.25516, + 0, + 0.9669 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 21.15046, + "euclidean_distance": 15.20101, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.14813, + -0.31367, + -5.16029 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_46_newN_0", + "path": [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:35GMH2SV3GKTF5DG34XBPGJMH07EOE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.33897, + -0.31367, + -0.51758 + ], + "start_rotation": [ + 0, + 0.3464, + 0, + -0.93809 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.08845, + "euclidean_distance": 7.59112, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.89022, + -0.31367, + 6.90363 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "7bb74d11234146b19b211e4b1c319cbf", + "path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_83_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_367_newN_2", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "refined_path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WSELTNVR5562K1CJGHON7ZIYSHTAC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.43448, + 3.28633, + 4.04191 + ], + "start_rotation": [ + 0, + 0.52032, + 0, + 0.85397 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.55301, + "euclidean_distance": 4.36724, + "closest_goal_object_id": 332, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.76389, + 3.28633, + 6.468 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + [ + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3KYQYYSHYXAONZZG79MRJY103BNDOV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.41122, + -0.31367, + -11.54762 + ], + "start_rotation": [ + 0, + 0.86406, + 0, + 0.50339 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.98011, + "euclidean_distance": 15.68845, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.07059, + -0.31367, + -5.72127 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "0_edge_311_newN_1", + "path": [ + "0_edge_15_newN_2", + "0_edge_15_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_15_newN_2", + "0_edge_15_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_15_newN_2", + "0_edge_15_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + [ + "0_edge_311_newN_0" + ], + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + [ + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3300DTYQT4KW0HQWIHPFELEMW8SEQ3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.80192, + 6.81239, + -1.29059 + ], + "start_rotation": [ + 0, + 0.20902, + 0, + -0.97791 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.00837, + "euclidean_distance": 8.2315, + "closest_goal_object_id": 500, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.7651, + 6.73254, + 2.20114 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "d63f17ffd240402899fc90e069e20da0", + "path": [ + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "0_edge_146_newN_0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "refined_path": [ + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NAPMVF0ZYIUZJ91TYL8CTO2HZA27I", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.3511, + 0.19566, + -2.08283 + ], + "start_rotation": [ + 0, + 0.07724, + 0, + -0.99701 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.28944, + "euclidean_distance": 6.976, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.93024, + -0.2932, + -6.08765 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b86b79b6a66546e58155579ef00b1e7d", + "path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_135_newN_0", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "736a864f92174a1facfc05a0eb246091", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:354GIDR5ZD99LY63TCWLEQL0CO900N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.93912, + -0.31367, + 0.29893 + ], + "start_rotation": [ + 0, + 0.996, + 0, + -0.08935 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 20.61612, + "euclidean_distance": 17.86199, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.058, + -0.31367, + -5.11177 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "d12a35cb161641318a92f9e5dd8915db", + "path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db" + ], + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3OCHAWUVGQNJVEJI0HVA6ONKD80KXF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.08053, + 6.68633, + 9.08344 + ], + "start_rotation": [ + 0, + 0.99931, + 0, + -0.03721 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.24883, + "euclidean_distance": 6.39374, + "closest_goal_object_id": 498, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.51308, + 6.68633, + 2.94003 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3L6L49WXW20PFTA59JPZ7O74NLH54D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.24324, + 3.88633, + 0.42503 + ], + "start_rotation": [ + 0, + 0.84656, + 0, + -0.53229 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 16.14382, + "euclidean_distance": 8.19669, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.11032, + 0.25242, + -3.56833 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd" + ], + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ] + ] + }, + { + "episode_id": "AJ4T7PTRYNSUW:3A1COHJ8NLY2ENH2MOGLDXQYGYK8H4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.30145, + 3.48633, + -12.22441 + ], + "start_rotation": [ + 0, + 0.87495, + 0, + 0.48422 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.0144, + "euclidean_distance": 13.06502, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.72064, + 0.11195, + 0.22644 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "6b3e8eaf98a14207b9ec30d4105938ce", + "path": [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "0_edge_185_newN_1", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3UJ1CZ6IZJS8HECGZKLH5RN9NJGS5N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.12698, + 3.88633, + 1.9378 + ], + "start_rotation": [ + 0, + 0.94026, + 0, + -0.34046 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.23364, + "euclidean_distance": 12.37851, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.08256, + 3.42123, + 7.06302 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1S0N5BIXAQO8I:3OVR4I9USRME8FT3TBD25Z2VMC8Q48", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.85069, + 3.88633, + 0.78742 + ], + "start_rotation": [ + 0, + 0.63685, + 0, + -0.77099 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 23.99152, + "euclidean_distance": 22.7218, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.35759, + 3.28633, + 5.61307 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + [ + "78851de517464ff6aaced75d7850b5a8" + ], + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:39N5ACM9HGQU59Y0ATU4M2N0MVRP9U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.51389, + 3.88633, + 1.68102 + ], + "start_rotation": [ + 0, + 0.26271, + 0, + -0.96487 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.44613, + "euclidean_distance": 20.85311, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.0984, + 3.28633, + 4.51173 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8" + ], + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:37Z929RLGBBA2GN60G3F87TOK4YSTT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.53707, + 3.28633, + 2.90186 + ], + "start_rotation": [ + 0, + 0.98886, + 0, + -0.14882 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 20.54451, + "euclidean_distance": 8.9316, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.2946, + 3.48633, + -5.80565 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "08a9899f92e54a88b14ded82908ad7fa", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ], + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1198W1SPF1R4:324G5B4FB5BN396NEBHUT5VNXHS70E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.84118, + 3.88633, + 3.02937 + ], + "start_rotation": [ + 0, + 0.30085, + 0, + -0.95367 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 16.55307, + "euclidean_distance": 15.09172, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.0475, + 3.28633, + 5.71552 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3SLE99ER0PG776F3VM6246K5YDFBZ7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.03789, + -0.31367, + 7.42713 + ], + "start_rotation": [ + 0, + 0.61127, + 0, + 0.79142 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 25.11372, + "euclidean_distance": 22.94599, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.87659, + -0.31367, + -6.91961 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "9dbeee64e93347bea1a127a7cb3eea03", + "path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BGYGHDBBZNNDICVNM4DG27U6KJ22Z", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.77085, + 3.47254, + 2.63656 + ], + "start_rotation": [ + 0, + 0.24691, + 0, + 0.96904 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.00127, + "euclidean_distance": 10.14059, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.72076, + 3.48633, + 8.18646 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3LS2AMNW5HTIC83LCVSBJX80ZS3OQL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.47321, + 3.88633, + 2.80019 + ], + "start_rotation": [ + 0, + 0.8849, + 0, + -0.46578 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 18.97713, + "euclidean_distance": 17.45846, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.80955, + 3.28633, + 5.67876 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3XCC1ODXDNEL9LV14N9FDSD4X9FRQY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.36373, + -0.31367, + 5.90607 + ], + "start_rotation": [ + 0, + 0.95123, + 0, + 0.30848 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 12.4451, + "euclidean_distance": 10.43922, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.64391, + 0.1767, + 0.85764 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0_edge_278_newN_0", + "path": [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3X66WABAJYL2DUGLQ1371G6MLC4G3A", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.52338, + 3.88633, + 1.05323 + ], + "start_rotation": [ + 0, + 0.99995, + 0, + -0.00963 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 14.8482, + "euclidean_distance": 14.13416, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05696, + 3.41286, + 7.161 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "c2f4ac1cd281454d80acbc4d79c12aef", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + [ + "eb2eb655963a4be08e11d984c87586bd" + ], + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9" + ], + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3F6HPJW4JF39PYA216TK49NJQ2Y2W3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.68663, + 6.68633, + 6.7219 + ], + "start_rotation": [ + 0, + 0.54695, + 0, + -0.83716 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.89353, + "euclidean_distance": 4.71969, + "closest_goal_object_id": 500, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.74714, + 6.7326, + 2.12767 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "c66a3e6ef48143f5a86d202e62515386", + "path": [ + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "refined_path": [ + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3WRFBPLXRCR8NMX7D5G2R0FK01SN3X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.74026, + 3.88633, + 1.95095 + ], + "start_rotation": [ + 0, + 0.84653, + 0, + -0.53234 + ], + "object_category": "table", + "info": { + "geodesic_distance": 17.73357, + "euclidean_distance": 16.58735, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.27913, + 3.28633, + 6.13791 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3NS0A6KXC6B3YNNEB8YG5HB2EPXGZH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.53864, + 3.88633, + 1.44234 + ], + "start_rotation": [ + 0, + 0.37612, + 0, + 0.92657 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 27.21874, + "euclidean_distance": 18.51158, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.00261, + 0.29057, + -3.55761 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_133_newN_1", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "0_edge_450_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + [ + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + [ + "d8401d8f05d84422a3543e9a1e612d11" + ], + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + [ + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:32XVDSJFP10DKMGOX4NXVBLSCO7M2F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.80153, + 3.28633, + 4.86674 + ], + "start_rotation": [ + 0, + 0.63279, + 0, + 0.77432 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.64587, + "euclidean_distance": 3.42047, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.64689, + 3.48633, + 8.08279 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "5eb29212d43d436ca60e05d19215a0de", + "path": [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3P529IW9K0ODFYAFLN1PFH0SY2EFLP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.47644, + -0.83289, + 5.67806 + ], + "start_rotation": [ + 0, + 0.98703, + 0, + 0.16055 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 19.52225, + "euclidean_distance": 17.88716, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.62446, + -0.31367, + -2.6533 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "cc6552274d7e482cbd3bf904d5754203", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3YOH7BII0BARRPEN02USI3QZ0UDVK5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.02472, + 3.57497, + -10.94814 + ], + "start_rotation": [ + 0, + 0.99321, + 0, + 0.11633 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 25.00644, + "euclidean_distance": 19.08121, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.70348, + 3.48633, + 8.01901 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "4e3ca18a1d6848529e1e97e841b3faa9", + "path": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9" + ], + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3I33IC7ZWH5CIL7Z01XSMKQSI6F2A6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.36097, + -0.31367, + 0.88034 + ], + "start_rotation": [ + 0, + 0.92527, + 0, + -0.37931 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 16.02732, + "euclidean_distance": 13.68708, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.92533, + -0.31367, + -6.82118 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "100294ee82214ab39ad802149f4f1909", + "path": [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ], + "refined_path": [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3KYQYYSHYXAONZZG79MRJY10364ODD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.91209, + 6.68633, + -11.01925 + ], + "start_rotation": [ + 0, + 0.59909, + 0, + -0.80068 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.66682, + "euclidean_distance": 12.33214, + "closest_goal_object_id": 493, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.35912, + 6.88633, + 0.55032 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0_edge_124_newN_2", + "path": [ + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "refined_path": [ + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ] + }, + { + "episode_id": "A3RPTW3IGJHBNQ:3U5JL4WY5MCYHCUFFP8UZ7YOJIE4X8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.05496, + 3.88633, + 3.0944 + ], + "start_rotation": [ + 0, + 0.05649, + 0, + 0.9984 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 26.14723, + "euclidean_distance": 24.47037, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.13391, + 3.43138, + 7.13433 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + }, + { + "episode_id": "A2CUAZD7OJDFYR:3F1567XTNY8F5LZFA69TM7DAP3R9Q5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.76009, + 3.88633, + 4.90802 + ], + "start_rotation": [ + 0, + 0.8179, + 0, + 0.57536 + ], + "object_category": "table", + "info": { + "geodesic_distance": 22.99533, + "euclidean_distance": 21.12927, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.26126, + 3.28633, + 6.06197 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9" + ] + }, + { + "episode_id": "A1S0N5BIXAQO8I:3TY7ZAOG5HNBYOD7X563XA08PHVK0G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.86578, + 4.08633, + 0.28449 + ], + "start_rotation": [ + 0, + 0.90596, + 0, + -0.42337 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.86333, + "euclidean_distance": 13.7049, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.97499, + 3.28633, + 4.57025 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:31T4R4OBOUJ7X113QRAEO6XO925C7N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.40699, + 3.88633, + 1.15711 + ], + "start_rotation": [ + 0, + 0.66513, + 0, + -0.74673 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 21.1247, + "euclidean_distance": 19.9352, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.10604, + 3.28633, + 5.67585 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3KYQYYSHYXAONZZG79MRJY11HNHOD4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.90079, + 4.08066, + 3.25341 + ], + "start_rotation": [ + 0, + 0.7289, + 0, + -0.68462 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.30091, + "euclidean_distance": 6.27868, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.69347, + 3.28633, + 4.13043 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3WQ3B2KGEAJACAUVNBXACC0TLZ91BH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.53448, + 3.91679, + 7.37499 + ], + "start_rotation": [ + 0, + 0.55473, + 0, + -0.83203 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 27.32534, + "euclidean_distance": 24.62771, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.07809, + 3.28633, + 5.96091 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3GDTJDAPVWEO61IDDLWY52YVB8CM8C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.7428, + 3.88633, + 1.47549 + ], + "start_rotation": [ + 0, + 0.99644, + 0, + -0.08431 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.97692, + "euclidean_distance": 11.38279, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.26871, + 3.48633, + -2.81842 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3HMIGG0U4N9O0I7RWOK9ZXL2K6NY8N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.11743, + -0.31367, + -13.45273 + ], + "start_rotation": [ + 0, + 0.10534, + 0, + -0.99444 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.02966, + "euclidean_distance": 10.72582, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.89427, + -0.31367, + -6.45109 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "503e9158558647fea49c1e6cfd0d5bc4", + "path": [ + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A182N7RLXGSCZG:3FUI0JHJPZ11JI4XVMWNIMHDHVL33N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.07185, + -0.31367, + 2.7705 + ], + "start_rotation": [ + 0, + 0.02487, + 0, + -0.99969 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.93126, + "euclidean_distance": 3.62958, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.26082, + -0.29003, + 5.97306 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_438_newN_0", + "path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6" + ], + "refined_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + [ + "60ddff235ac44416b783febc3fa613b6" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3IXEICO794M5FIP9T30C72XWZA0T6U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.89552, + 6.68633, + -0.5246 + ], + "start_rotation": [ + 0, + 0.83783, + 0, + 0.54593 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.68824, + "euclidean_distance": 9.02283, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.34721, + 6.68633, + 6.7495 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0_edge_146_newN_0", + "path": [ + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + [ + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + [ + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3EA3QWIZ4KYL82KAV49145N188IITE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.70431, + -0.31367, + -0.6638 + ], + "start_rotation": [ + 0, + 0.82145, + 0, + -0.57028 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.50721, + "euclidean_distance": 11.14654, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.98267, + -0.22776, + -6.20746 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_133_newN_1", + "path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "7bb74d11234146b19b211e4b1c319cbf", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + [ + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3AAJC4I4FIVDPPDFJEJJ2U3I9CQJZT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.89633, + -0.31367, + -0.38147 + ], + "start_rotation": [ + 0, + 0.96577, + 0, + -0.25939 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.21153, + "euclidean_distance": 11.14191, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.42445, + -0.31367, + 6.75114 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3ZV9H2YQQFAYAG6L567PNJSAFV63WY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.10899, + 6.68633, + -8.25146 + ], + "start_rotation": [ + 0, + 0.67373, + 0, + -0.73898 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.0436, + "euclidean_distance": 6.46021, + "closest_goal_object_id": 605, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.58443, + 6.68633, + -2.88157 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "9a549b18c7684ef9b6e7be5f989df276", + "path": [ + "9a549b18c7684ef9b6e7be5f989df276", + "0_edge_124_newN_0", + "0_edge_124_newN_1", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9a549b18c7684ef9b6e7be5f989df276", + "0_edge_124_newN_0", + "0_edge_124_newN_1", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "refined_path": [ + "9a549b18c7684ef9b6e7be5f989df276", + "0_edge_124_newN_0", + "0_edge_124_newN_1", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + [ + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3RXPCZQMQRE63R263XPODNRQ15K1G3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.03959, + -0.31367, + 6.91268 + ], + "start_rotation": [ + 0, + 0.99938, + 0, + -0.03516 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.65903, + "euclidean_distance": 2.31327, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.03131, + -0.31367, + 5.67813 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "60434c00433b4438912eebe9bd2c6984", + "path": [ + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0" + ], + "refined_path": [ + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0" + ] + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3OHYZ19UGE8QPSW4NZVPTXTVZPDOA8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.8581, + -0.31367, + -17.45561 + ], + "start_rotation": [ + 0, + 0.95643, + 0, + -0.29198 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 29.57547, + "euclidean_distance": 17.02019, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.18945, + 3.48633, + -2.91974 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "4a9d28ec80c94f1cadedb3e17667cd29", + "path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3HMIGG0U4N9O0I7RWOK9ZXL2JW88YX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.67884, + 3.28633, + 4.83677 + ], + "start_rotation": [ + 0, + 0.22706, + 0, + 0.97388 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.50671, + "euclidean_distance": 4.2122, + "closest_goal_object_id": 332, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.78456, + 3.28633, + 6.30156 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3A4TN5196ML4QQ7F30WQFJMIK8SHCO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.77254, + 3.88633, + 8.31761 + ], + "start_rotation": [ + 0, + 0.8954, + 0, + 0.44527 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 27.12455, + "euclidean_distance": 20.93403, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.08587, + 3.41712, + 7.20714 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81" + ], + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3SUWZRL0M0G3QZ7C38BH8GXUIIB6EZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.53506, + 7.28633, + 0.37647 + ], + "start_rotation": [ + 0, + 0.66993, + 0, + 0.74242 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.80142, + "euclidean_distance": 2.3197, + "closest_goal_object_id": 493, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.68367, + 6.88633, + 0.9746 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0_edge_282_newN_1", + "path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + [ + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0" + ], + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1" + ], + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:38BQUHLA9Y3RRT5TK2LU2OOVT7NOMF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.32684, + 6.68633, + -2.10495 + ], + "start_rotation": [ + 0, + 0.97387, + 0, + 0.2271 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 14.6697, + "euclidean_distance": 11.2205, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.10583, + 6.68633, + 8.44052 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "c130d4a1cbb642c0b7fc079969f2d6fd", + "path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be" + ], + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3H7XDTSHKEUZ4SI90LE96DHKX9KGWQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.88571, + -0.31367, + -11.57491 + ], + "start_rotation": [ + 0, + 0.96824, + 0, + 0.25002 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.35018, + "euclidean_distance": 7.43716, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.29863, + -0.31367, + -4.29073 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "87298f50ef9140d891e1a06b4f1fab8a", + "path": [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a" + ], + "0_edge_25_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0" + ], + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3EO896NRAYYH3D4GDMU1G62188OJT1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.45236, + 3.88633, + 3.58482 + ], + "start_rotation": [ + 0, + 0.78307, + 0, + 0.62193 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.82282, + "euclidean_distance": 13.97448, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.72259, + 3.48633, + 7.99376 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37UQDCYH6ZY3WA73H85JEYLDEY3V7L", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.56894, + 6.68633, + 2.89052 + ], + "start_rotation": [ + 0, + 0.70587, + 0, + 0.70835 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.78597, + "euclidean_distance": 4.41393, + "closest_goal_object_id": 539, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.34338, + 6.68633, + 7.35821 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "23529d8037d541ccbcccc986d779f269", + "path": [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "d547331b610244018371be43294f36c1", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "refined_path": [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739" + ], + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NLZY2D53RSA6N0OZ3CJRG45RGKQLZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.16956, + 3.88633, + 2.12789 + ], + "start_rotation": [ + 0, + 0.98119, + 0, + -0.19305 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 19.23149, + "euclidean_distance": 17.86567, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.32518, + 3.28633, + 5.7408 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A1C8FN01981A69:33NF62TLXL5I0UETJDG9FFF553LJKF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.08965, + -0.31367, + -13.79446 + ], + "start_rotation": [ + 0, + 0.95591, + 0, + -0.29367 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.31398, + "euclidean_distance": 14.98386, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.86135, + -0.31367, + -6.46213 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "d359f126c7b6433c92afc8ee3f327f59", + "path": [ + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + [ + "0_edge_130_newN_0", + "0_edge_130_newN_1" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:34MAJL3QP6QM1EN1V016SR9KCJQ43D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.07577, + -0.31367, + -6.45361 + ], + "start_rotation": [ + 0, + 0.22028, + 0, + 0.97544 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.62895, + "euclidean_distance": 4.37126, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.30847, + -0.31367, + -4.21473 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "3ca0a0e34b9046d58a1c3fe2543576e0", + "path": [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "refined_path": [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ] + }, + { + "episode_id": "A1C8FN01981A69:3ITXP059PYMGODR1OMPB616FM0DSJQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.10329, + -0.31367, + -8.35571 + ], + "start_rotation": [ + 0, + 0.49476, + 0, + 0.86903 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.28099, + "euclidean_distance": 15.45095, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.08121, + -0.31367, + -5.72308 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "d950474d24d1474ca4b85b927aa958e5", + "path": [ + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_99_newN_1", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + [ + "634ddf341f6443118bea4195d06c6555" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3XXU1SWE8OY5MB4LLETE3WXD1M0A07", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.2611, + 3.88633, + 1.6653 + ], + "start_rotation": [ + 0, + 0.55998, + 0, + -0.82851 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.51349, + "euclidean_distance": 13.64977, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.75037, + 3.48633, + 8.16952 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3HSYG7LRBL1DBEKB1YGLGUFIH5IKKZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.30604, + 0.02284, + -1.4879 + ], + "start_rotation": [ + 0, + 0.31401, + 0, + -0.94942 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.03807, + "euclidean_distance": 11.39949, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.76467, + 3.48633, + 8.15646 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_135_newN_0", + "path": [ + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_450_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "90dcb8a526504454b728d3f7951f153f", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2R2YZTSME1K3F:3P529IW9K0ODFYAFLN1PFH0SY34FLH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.07926, + 4.91711, + -4.07042 + ], + "start_rotation": [ + 0, + 0.8791, + 0, + -0.47665 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 12.02171, + "euclidean_distance": 10.29342, + "closest_goal_object_id": 439, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.09377, + 3.48633, + -12.13867 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "2123d2d754d741d2b1de4ea8328bba51", + "path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3A7Y0R2P2QROKUD0IWVY59N6KZEJX9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.6616, + 3.88633, + 4.43226 + ], + "start_rotation": [ + 0, + 0.01733, + 0, + 0.99985 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 25.86604, + "euclidean_distance": 23.89047, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05935, + 3.41422, + 7.14388 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3YDTZAI2WZJQRB9M8WNN4YUNBZO14R", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.81223, + 4.79804, + -4.02022 + ], + "start_rotation": [ + 0, + 0.23109, + 0, + 0.97293 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.2554, + "euclidean_distance": 7.2687, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.39412, + 3.48633, + -10.28989 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "2123d2d754d741d2b1de4ea8328bba51", + "path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:378XPAWRUEGGT6L1P4IK90X9NFAIA1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.36586, + 3.88633, + -0.84935 + ], + "start_rotation": [ + 0, + 0.09008, + 0, + -0.99593 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.00278, + "euclidean_distance": 17.37102, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.01889, + 3.28633, + 4.60474 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3VHHR074H5K005V9343DRPNB37ML77", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 16.54425, + -0.91367, + 10.80058 + ], + "start_rotation": [ + 0, + 0.79595, + 0, + -0.60537 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.41266, + "euclidean_distance": 9.33316, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 10.20124, + -0.31367, + 3.83441 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "9dbeee64e93347bea1a127a7cb3eea03", + "path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "0_edge_86_newN_1", + "0_edge_122_newN_0", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330" + ], + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:3GS6S824SS05EKZVNPR4WXQGKI8NWL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.9576, + 3.88633, + 2.43087 + ], + "start_rotation": [ + 0, + 0.9968, + 0, + -0.0799 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 26.1599, + "euclidean_distance": 24.58769, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.13337, + 3.42903, + 7.18067 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "episode_id": "A182N7RLXGSCZG:32ZKVD547HQ6MD8AAFBT05FP5QZ3BL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.17689, + 3.48633, + 2.5481 + ], + "start_rotation": [ + 0, + 0.85735, + 0, + 0.51473 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.24307, + "euclidean_distance": 3.8067, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.76568, + 3.28633, + 4.03158 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "e908015113524e25a0fe06c0f88d6bb2", + "path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EF8EXOTT3YGUTS7B3ARA0J6T5YJ12", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.00267, + 3.31902, + 0.47382 + ], + "start_rotation": [ + 0, + 0.24323, + 0, + 0.96997 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 24.08791, + "euclidean_distance": 9.05801, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.10928, + -0.31367, + -5.13377 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "001d8a657cbd41e7bf5a538e5768b058", + "path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "cc6552274d7e482cbd3bf904d5754203", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:3R5F3LQFV4NRQ04CZRBOAQK3PBKOZQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.63306, + -0.31367, + 5.58273 + ], + "start_rotation": [ + 0, + 0.72135, + 0, + -0.69257 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 23.43076, + "euclidean_distance": 21.51997, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.04806, + -0.31367, + -6.78835 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "4486a4f9a25742c98cdd93b72fb3220e", + "path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A2YTO4EY3MNYAJ:3Q5C1WP23O48NUDMM16X9Q00VVD158", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.34531, + 3.88633, + 1.30925 + ], + "start_rotation": [ + 0, + 0.99528, + 0, + 0.097 + ], + "object_category": "table", + "info": { + "geodesic_distance": 15.39132, + "euclidean_distance": 14.47448, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.25426, + 3.28633, + 6.13072 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3HL8HNGX474IEW96WQYZA89X1539FP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.12894, + -0.31367, + -8.91748 + ], + "start_rotation": [ + 0, + 0.18247, + 0, + -0.98321 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.30035, + "euclidean_distance": 16.56509, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.07115, + -0.31367, + -5.71038 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "d950474d24d1474ca4b85b927aa958e5", + "path": [ + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + [ + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RRCEFRB7OFR49REATGCAA7VJQ2B4L", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.02826, + 6.68633, + 0.90222 + ], + "start_rotation": [ + 0, + 0.42439, + 0, + 0.90548 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.34081, + "euclidean_distance": 5.48132, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.41128, + 6.69479, + 1.81453 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "b02ebc952fcf4ff0942c56b2b3251b44", + "path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "refined_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DZQRBDBSNI53ZPCL1XOQUPP7ZXS3R", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.82624, + 4.08121, + 7.52933 + ], + "start_rotation": [ + 0, + 0.77925, + 0, + -0.62671 + ], + "object_category": "table", + "info": { + "geodesic_distance": 26.59237, + "euclidean_distance": 24.21909, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.25995, + 3.28633, + 6.15519 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:33OOO72IVJOUVZYA3UDFT2P6V8PCT7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.27689, + -0.31367, + -2.8715 + ], + "start_rotation": [ + 0, + 0.8679, + 0, + 0.49673 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 25.4902, + "euclidean_distance": 11.72281, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.74211, + 3.48633, + 8.15958 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_130_newN_0", + "path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A28HB7240OFGEW:3NC5L260MQPLLJDCYFHH7Y4MT74OF0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.81348, + 3.88633, + 1.72599 + ], + "start_rotation": [ + 0, + 0.37964, + 0, + -0.92514 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.06867, + "euclidean_distance": 12.3055, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.15365, + 3.42908, + 7.27442 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + [ + "5a17727c63bb4c64bd10875f8d652009" + ], + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:35USIKEBNTJ7K5KPW7E0Y3R4DVC6ND", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.18963, + 3.88633, + 3.33276 + ], + "start_rotation": [ + 0, + 0.6935, + 0, + -0.72045 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 19.31878, + "euclidean_distance": 17.68856, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06702, + 3.41852, + 7.08997 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3A4NIXBJ782JL82W7A52A7K0HLZMLW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.56321, + -0.31367, + -12.5072 + ], + "start_rotation": [ + 0, + 0.49578, + 0, + -0.86845 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.50666, + "euclidean_distance": 11.8897, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.09152, + -0.31367, + -5.70881 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "0_edge_25_newN_1", + "path": [ + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_25_newN_1", + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1" + ], + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63" + ], + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3EJJQNKU9T88WSWYLXML4EL4K8QHRN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 21.84241, + -0.8285, + 4.97439 + ], + "start_rotation": [ + 0, + 0.2425, + 0, + -0.97015 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 17.94751, + "euclidean_distance": 15.70074, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.1686, + -0.31367, + 4.50345 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "path": [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "0_edge_238_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a" + ], + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512" + ], + "0_edge_238_newN_0", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + [ + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + [ + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3DEL4X4EL8OEFJ8Z4WW1FW2VEJMXYV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.5629, + -0.31367, + -5.01273 + ], + "start_rotation": [ + 0, + 0.96009, + 0, + -0.27969 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.27024, + "euclidean_distance": 5.93858, + "closest_goal_object_id": 131, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.68446, + -0.31367, + -5.97098 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "634ddf341f6443118bea4195d06c6555", + "path": [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "refined_path": [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:33CUSNVVNPF9LCG9JKMF0KX0RSI88J", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.06483, + -0.31367, + -16.45985 + ], + "start_rotation": [ + 0, + 0.21529, + 0, + -0.97655 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.99754, + "euclidean_distance": 3.66598, + "closest_goal_object_id": 163, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.18786, + -0.31367, + -13.00144 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "7e8326b2742643919d565d01ff4cb501", + "path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1" + ], + "refined_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3D4CH1LGECWOSW517A4HST98LZF9GB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.05145, + -0.31367, + 0.67565 + ], + "start_rotation": [ + 0, + 0.67349, + 0, + 0.7392 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.02321, + "euclidean_distance": 5.49672, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.40125, + -0.31367, + 5.86316 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3WSELTNVR5562K1CJGHON7ZIYTAATO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.0749, + 3.28633, + 5.86566 + ], + "start_rotation": [ + 0, + 0.54837, + 0, + 0.83624 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 23.28049, + "euclidean_distance": 18.14297, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.32955, + 3.48633, + -10.26768 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:36U2A8VAG328VJ9S5DHCP2UTI7BKYR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.53555, + 6.83744, + -3.05057 + ], + "start_rotation": [ + 0, + 0.999, + 0, + -0.04479 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.20752, + "euclidean_distance": 3.97135, + "closest_goal_object_id": 493, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.14451, + 6.88633, + 0.514 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "40bd5db3c01e445d903b58f86beaf72a", + "path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f" + ], + "refined_path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:32AT8R96GNCP2T2V0LTPD3FQ3CNSUQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.45236, + 3.88633, + -0.65691 + ], + "start_rotation": [ + 0, + 0.69679, + 0, + -0.71727 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 23.46841, + "euclidean_distance": 16.59182, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.95476, + 3.5768, + -10.22515 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "0_edge_290_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + [ + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3YMU66OBIPBH72NK5MS95A7W2PUGH3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.81459, + -0.31367, + 5.44732 + ], + "start_rotation": [ + 0, + 0.1759, + 0, + -0.98441 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.70433, + "euclidean_distance": 5.17129, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.74198, + -0.31367, + 6.89733 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_425_newN_0", + "path": [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "refined_path": [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:31HQ4X3T3UDMJ3F1R71OMGJ699QLSE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.99229, + 7.28633, + -0.52563 + ], + "start_rotation": [ + 0, + 0.79675, + 0, + -0.60431 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.1762, + "euclidean_distance": 3.6844, + "closest_goal_object_id": 594, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.26412, + 6.68633, + -3.35481 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "c130d4a1cbb642c0b7fc079969f2d6fd", + "path": [ + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d" + ], + "refined_path": [ + "0_edge_282_newN_0", + "0_edge_282_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + [ + "0_edge_282_newN_0", + "0_edge_282_newN_1" + ], + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3L2IS5HSFCLSMGAQSPC3E95KDD7UN5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.836, + 3.93495, + 6.20219 + ], + "start_rotation": [ + 0, + 0.25299, + 0, + -0.96747 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.33933, + "euclidean_distance": 20.20734, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.69137, + 3.28633, + 4.04161 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3ON104KXQMZJSCPP5KC8XOKH7K54WH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.60422, + -0.31367, + 9.30949 + ], + "start_rotation": [ + 0, + 0.97826, + 0, + -0.20738 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 25.49306, + "euclidean_distance": 16.79352, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.10751, + -0.31367, + -5.36828 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "241fde907a674d6ca8916fd2beec6dfc" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + ] + }, + { + "episode_id": "AJ4T7PTRYNSUW:3CCZ6YKWR9MQCZGHQELQOWIKW2X95G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.08213, + 0.08633, + 2.08915 + ], + "start_rotation": [ + 0, + 0.82625, + 0, + -0.56331 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.46935, + "euclidean_distance": 8.71987, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.31398, + 3.48633, + -5.86323 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "0_edge_238_newN_0", + "path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "ee34e33014c94bf79cda5892e2ec6b24", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3QEMNNSB2Z2H2T7HQN5P8CF6R61D7D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.03744, + -0.31367, + -11.46039 + ], + "start_rotation": [ + 0, + 0.0635, + 0, + 0.99798 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 20.813, + "euclidean_distance": 10.97529, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.13286, + -0.31367, + -5.16821 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_25_newN_0", + "path": [ + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0" + ], + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3R6P78PK7ME7CBEF5G9YJTALTZPGTR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.42957, + -0.31367, + 7.59237 + ], + "start_rotation": [ + 0, + 0.3331, + 0, + -0.94289 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 23.64894, + "euclidean_distance": 13.10489, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.28331, + 3.48633, + -2.83284 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:39O5D9O87VVPWI0GOF7OBPL80MXC30", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 17.63654, + -0.53781, + -0.95836 + ], + "start_rotation": [ + 0, + 0.99958, + 0, + -0.02913 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 1.54127, + "euclidean_distance": 1.46392, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 18.02099, + -0.91367, + 0.47491 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_122_newN_0", + "path": [ + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330" + ], + "refined_path": [ + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3HFNH7HEMJHUKVMNOCF3EOZYW7MGQQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.92719, + 0.08633, + 3.14992 + ], + "start_rotation": [ + 0, + 0.29065, + 0, + 0.95683 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.77908, + "euclidean_distance": 10.36708, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.14032, + -0.31367, + -5.25838 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "d9b3b2d4da2e421ab0bf916e8aef3512", + "path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:384PI804XU49M7QF2EF5OWRI4ZAS0H", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.87517, + 3.92631, + -4.6844 + ], + "start_rotation": [ + 0, + 0.0153, + 0, + 0.99988 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.91598, + "euclidean_distance": 14.91343, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.74601, + 3.48633, + 8.20759 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "a70662f06c7d43348cf1592a80e7e183", + "path": [ + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + [ + "90dcb8a526504454b728d3f7951f153f" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6" + ], + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:36W0OB37HYHHYJIPVEGYQHN3WN6HZC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.10874, + -0.31367, + -15.56038 + ], + "start_rotation": [ + 0, + 0.46828, + 0, + 0.88358 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.07671, + "euclidean_distance": 17.36362, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.05356, + -0.31367, + -5.64024 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "32e645590a554d8694a69851854a1c10", + "path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WMOAN2SRD0SZVZQXFM8AV72DZVNVG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.16043, + 3.42628, + -1.09098 + ], + "start_rotation": [ + 0, + 0.3588, + 0, + 0.93342 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.87938, + "euclidean_distance": 9.69793, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.6857, + 3.28633, + 5.60921 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "a9842ed3d2064064a0c6a8c661916237", + "path": [ + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3E337GFOLBB9HY9V8KNMAU4T76TNG4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.55185, + 6.68633, + 2.91062 + ], + "start_rotation": [ + 0, + 0.15902, + 0, + -0.98728 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.44961, + "euclidean_distance": 4.86536, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.24315, + 6.68633, + 6.70883 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "23529d8037d541ccbcccc986d779f269", + "path": [ + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f" + ], + "refined_path": [ + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3WOKGM4L73JUOFYMVXYW4RHIQ3NO03", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.59149, + 3.98319, + 6.44681 + ], + "start_rotation": [ + 0, + 0.33185, + 0, + -0.94333 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 27.29844, + "euclidean_distance": 24.7465, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05555, + 3.40971, + 7.22008 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:320DUZ38G9PDY8IATMVUHNNBFQJGJB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.06846, + 3.88633, + 4.08942 + ], + "start_rotation": [ + 0, + 0.8157, + 0, + 0.57847 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 14.51627, + "euclidean_distance": 12.53468, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.14339, + 3.43059, + 7.19488 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + [ + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3WYP994K19U1W4O339NBFJPA0QTY6B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.46487, + 4.06862, + -1.63866 + ], + "start_rotation": [ + 0, + 0.13155, + 0, + 0.99131 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 22.29504, + "euclidean_distance": 13.63035, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.86887, + 3.5625, + -10.26676 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "830bd3180a5f497d8631f6c8112792d6", + "path": [ + "830bd3180a5f497d8631f6c8112792d6", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_317_newN_0", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + [ + "830bd3180a5f497d8631f6c8112792d6" + ], + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "b54868e8037048d08f1208b26e887005" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3SNVL38CI6VVSG8N9LZNSB29YXNKCM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.19173, + -0.31367, + -11.19737 + ], + "start_rotation": [ + 0, + 0.9837, + 0, + 0.17981 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.41642, + "euclidean_distance": 11.20671, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.75548, + -0.31367, + -6.25678 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f1c591c0bc7b43b1896d6c65eaa1f561", + "path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7bb74d11234146b19b211e4b1c319cbf", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3UJ1CZ6IZJS8HECGZKLH5RNA0LHS57", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.56873, + 5.36029, + -3.24659 + ], + "start_rotation": [ + 0, + 0.2239, + 0, + 0.97461 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 14.15744, + "euclidean_distance": 11.18031, + "closest_goal_object_id": 404, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.36131, + 3.63077, + -9.72441 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "2123d2d754d741d2b1de4ea8328bba51", + "path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + [ + "90dcb8a526504454b728d3f7951f153f" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3M23Y66PO4A40ICU43VMXX1A0UQ6SV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.98161, + 3.88633, + 3.05436 + ], + "start_rotation": [ + 0, + 0.6273, + 0, + 0.77878 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 24.07554, + "euclidean_distance": 22.43711, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06306, + 3.41296, + 7.18734 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3URFVVM167LM35O9VDNX9WCTNSHZUV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.32998, + 3.463, + -1.59748 + ], + "start_rotation": [ + 0, + 0.14138, + 0, + 0.98996 + ], + "object_category": "table", + "info": { + "geodesic_distance": 9.91605, + "euclidean_distance": 8.92275, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.17827, + 3.28633, + 6.09773 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "a9842ed3d2064064a0c6a8c661916237", + "path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3LS2AMNW5HTIC83LCVSBJX8009TOQA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.7453, + 3.96654, + -5.10386 + ], + "start_rotation": [ + 0, + 1, + 0, + -0.00186 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.74501, + "euclidean_distance": 5.5924, + "closest_goal_object_id": 455, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.62957, + 3.48633, + -10.26044 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "a70662f06c7d43348cf1592a80e7e183", + "path": [ + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3P529IW9K0ODFYAFLN1PFH0RI8ELFP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 13.58349, + -0.25682, + -4.67083 + ], + "start_rotation": [ + 0, + 0.5271, + 0, + -0.8498 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 28.23763, + "euclidean_distance": 16.38907, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.29032, + 3.48633, + -2.96145 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3RYC5T2D75W099UM4AUQDNNV66NPR1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.5307, + 3.88633, + 3.19 + ], + "start_rotation": [ + 0, + 0.90676, + 0, + 0.42165 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 26.33616, + "euclidean_distance": 14.40467, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.25936, + 3.48633, + -5.85212 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:38BQUHLA9Y3RRT5TK2LU2OOVDTHOM1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.67483, + -0.31367, + 2.09299 + ], + "start_rotation": [ + 0, + 0.93162, + 0, + 0.36345 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 23.90532, + "euclidean_distance": 13.81331, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.19689, + -0.31367, + -5.23175 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_46_newN_0", + "path": [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TUI152ZZDQXGGWK6TU071VRT6JQ1P", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.88127, + 3.88633, + 1.49485 + ], + "start_rotation": [ + 0, + 0.44287, + 0, + -0.89659 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 21.37231, + "euclidean_distance": 16.78154, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.0871, + 3.59393, + -10.27083 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_46_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_46_newN_0" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3U4J9857OGEONW9XCREJDMR5APGB7N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.35146, + 3.28633, + 5.69074 + ], + "start_rotation": [ + 0, + 0.6345, + 0, + 0.77293 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.16245, + "euclidean_distance": 4.62971, + "closest_goal_object_id": 332, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.77957, + 3.28633, + 6.46434 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:33JKGHPFYEX9985HJNLHNZOPKRENMY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.59504, + 3.63496, + -9.77029 + ], + "start_rotation": [ + 0, + 0.35155, + 0, + 0.93617 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 24.93492, + "euclidean_distance": 12.44342, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.77105, + 0.10342, + 0.31541 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "428bc90067994001952048f25dc4e57d", + "path": [ + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d" + ], + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3Y4W8Q93L1NJDJ8D8L85EQV9DHIDV1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.71607, + 6.76973, + 0.87734 + ], + "start_rotation": [ + 0, + 0.94238, + 0, + -0.33455 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.32703, + "euclidean_distance": 6.0531, + "closest_goal_object_id": 493, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.30574, + 6.87407, + 0.42587 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "890c5356b4da4a418e223fc9e366bf89", + "path": [ + "890c5356b4da4a418e223fc9e366bf89", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "2142035ff0ff419f81fed8875fccf577", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "2142035ff0ff419f81fed8875fccf577", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "2142035ff0ff419f81fed8875fccf577", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "refined_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "2142035ff0ff419f81fed8875fccf577", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + [ + "23529d8037d541ccbcccc986d779f269", + "2142035ff0ff419f81fed8875fccf577", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "890c5356b4da4a418e223fc9e366bf89" + ], + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + [ + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55" + ], + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ] + }, + { + "episode_id": "A2J6S7QR4CGXTW:3NVC2EB65S22ZL1LK7PD8GDR7OR3Y7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.71296, + -0.31367, + -12.33153 + ], + "start_rotation": [ + 0, + 0.54015, + 0, + -0.84157 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 17.01837, + "euclidean_distance": 15.71517, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.85131, + -0.31367, + -6.67122 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "b6a9f93f5e264750ad8159d4b93ac177", + "path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3Z4XG4ZF4AUZ0DHHRSY7GJETHQEX8G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.51822, + -0.31367, + -16.14287 + ], + "start_rotation": [ + 0, + 0.94676, + 0, + -0.32194 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.52427, + "euclidean_distance": 12.01874, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.16155, + -0.31367, + -4.29266 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "7e8326b2742643919d565d01ff4cb501", + "path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NVC2EB65S22ZL1LK7PD8GDQOQ3Y3X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.69068, + 3.28633, + 3.59739 + ], + "start_rotation": [ + 0, + 0.36251, + 0, + -0.93198 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.97423, + "euclidean_distance": 8.18649, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.1213, + 0.26638, + -3.49455 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3JPSL1DZ5U2877WSMKVCE8TQ50ANAW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.80633, + 3.48633, + 2.26455 + ], + "start_rotation": [ + 0, + 0.31609, + 0, + -0.94873 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.28665, + "euclidean_distance": 10.14686, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.73147, + 3.28633, + 5.61519 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3RANCT1ZVHKQL7LTPZ7UNE5QWVKUBL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.25587, + -0.31367, + -13.39519 + ], + "start_rotation": [ + 0, + 0.91244, + 0, + -0.40921 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 18.80829, + "euclidean_distance": 11.8033, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.16201, + -0.31367, + -5.55698 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "503e9158558647fea49c1e6cfd0d5bc4", + "path": [ + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1" + ], + "0_edge_25_newN_0", + [ + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0" + ], + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4" + ], + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X73LLYYQ3HNHU46SQ54VUGT3HBHN3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.013, + -0.31367, + -15.01918 + ], + "start_rotation": [ + 0, + 0.02668, + 0, + -0.99964 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.27845, + "euclidean_distance": 13.36301, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.10913, + -0.31367, + -5.23025 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "path": [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + [ + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63" + ], + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3RXPCZQMQRE63R263XPODNRQ49I1GC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.21652, + 3.48633, + -11.71435 + ], + "start_rotation": [ + 0, + 0.73042, + 0, + 0.683 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 19.38051, + "euclidean_distance": 9.55201, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.96182, + 0.29275, + -3.54611 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "refined_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0" + ], + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3B2X28YI3YI5JWVSTH9R78RATAEB6E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 15.13642, + -0.21161, + 0.90101 + ], + "start_rotation": [ + 0, + 0.63843, + 0, + 0.76968 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 27.64971, + "euclidean_distance": 24.94923, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.08092, + -0.31367, + -5.12532 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "193d45e0b5d842e69acc5813e478f614", + "path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3YZ8UPK3VVP9VCDZ3Z3PYYB8EAUUCQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.8326, + 3.88633, + 5.06136 + ], + "start_rotation": [ + 0, + 0.99858, + 0, + 0.05332 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 29.39671, + "euclidean_distance": 24.82821, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.34209, + 3.48633, + -10.30913 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81" + ], + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:30BUDKLTXFY77V7YYP1CGAJV35Z5E0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -24.7568, + 4.16737, + 7.83005 + ], + "start_rotation": [ + 0, + 0.22402, + 0, + -0.97459 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 24.58105, + "euclidean_distance": 23.32081, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.7291, + 3.28633, + 4.21942 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:33TIN5LC06DOENQ11GQNZTGD4JUY9F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.39838, + 4.20501, + 9.40972 + ], + "start_rotation": [ + 0, + 0.06524, + 0, + 0.99787 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 29.17538, + "euclidean_distance": 25.628, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.24317, + 3.4473, + 7.31253 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3XM0HYN6NM2B05PHI4AQEGOCRCDEPJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.79841, + -0.16183, + -0.5722 + ], + "start_rotation": [ + 0, + 0.65545, + 0, + 0.75524 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 13.15422, + "euclidean_distance": 9.91936, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.03696, + -0.28894, + -6.1034 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ee34e33014c94bf79cda5892e2ec6b24", + "path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_325_newN_0", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_325_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3" + ], + "0_edge_325_newN_0", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_325_newN_0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1" + ], + "0_edge_262_newN_0", + [ + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NXNZ5RS1C05Z3U0E70NMGWG0KJ97N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.50802, + 3.28633, + 4.27568 + ], + "start_rotation": [ + 0, + 0.93913, + 0, + -0.34357 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.49053, + "euclidean_distance": 3.61997, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.20204, + 3.4453, + 7.16213 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39N5ACM9HGQU59Y0ATU4M2N108O9PH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.99319, + 6.68633, + -1.80516 + ], + "start_rotation": [ + 0, + 0.84502, + 0, + -0.53473 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.37221, + "euclidean_distance": 9.66089, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.35402, + 6.68633, + 6.7056 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "72f2dbee67884e7d9bd70158fe8e66c9", + "path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "0_edge_126_newN_1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3EKVH9QME07AGSABKBOUCLYYGK2D28", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.76284, + 3.88633, + -0.23358 + ], + "start_rotation": [ + 0, + 0.76438, + 0, + -0.64477 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 23.91623, + "euclidean_distance": 22.4202, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.989, + 3.28633, + 4.57669 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + [ + "78851de517464ff6aaced75d7850b5a8" + ], + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WSELTNVR5562K1CJGHON7ZHH4NTAN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.30927, + 3.48633, + -8.82923 + ], + "start_rotation": [ + 0, + 0.93271, + 0, + -0.36064 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 1.37095, + "euclidean_distance": 1.37095, + "closest_goal_object_id": 382, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.5061, + 3.48633, + -8.57801 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "428bc90067994001952048f25dc4e57d", + "path": [ + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3TYCR1GOTEMJKF1FMZVWI9GAA0NZLY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.27747, + -0.31367, + -16.47746 + ], + "start_rotation": [ + 0, + 0.03008, + 0, + -0.99955 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.30015, + "euclidean_distance": 14.37311, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.80972, + -0.31367, + -6.41206 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "2541575c89e8441da0419900ff2388dd", + "path": [ + "2541575c89e8441da0419900ff2388dd", + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "0_edge_367_newN_2", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2541575c89e8441da0419900ff2388dd", + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "2541575c89e8441da0419900ff2388dd", + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + [ + "503e9158558647fea49c1e6cfd0d5bc4", + "2541575c89e8441da0419900ff2388dd" + ], + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1" + ], + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:34J10VATJH18GMSIE0F6Z0CEO6NQIM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.96928, + -0.31367, + 2.4069 + ], + "start_rotation": [ + 0, + 0.92601, + 0, + 0.37751 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 26.90097, + "euclidean_distance": 15.71183, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.34375, + 3.48633, + -2.93513 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + [ + "bb06442335d542cbb733939a78fcff36" + ], + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3018Q3ZVOKTTM5OKFRCTNSY0A8AAR8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.45804, + 3.48633, + -1.47001 + ], + "start_rotation": [ + 0, + 0.55584, + 0, + -0.83129 + ], + "object_category": "table", + "info": { + "geodesic_distance": 9.55868, + "euclidean_distance": 8.3864, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.25582, + 3.28633, + 6.05329 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "a9842ed3d2064064a0c6a8c661916237", + "path": [ + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3VFJCI1K412UWW1N1R43JE9353TRG4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.76816, + 6.68633, + -1.40911 + ], + "start_rotation": [ + 0, + 0.42076, + 0, + -0.90717 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 13.04936, + "euclidean_distance": 8.73509, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.0058, + 6.74631, + -0.67383 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0_edge_128_newN_1", + "path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ] + }, + { + "episode_id": "A3C7COPV48I37D:3IAS3U3I0HJH1VCR6FXOHVAXXY42BK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.56862, + 3.28633, + 4.12515 + ], + "start_rotation": [ + 0, + 0.12636, + 0, + 0.99198 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.94162, + "euclidean_distance": 3.45836, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.37847, + 3.28633, + 5.96976 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3LRLIPTPESC7Z1BPP73WMGCLW64KA8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.75938, + 6.68633, + 6.62871 + ], + "start_rotation": [ + 0, + 0.98428, + 0, + 0.17662 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.15551, + "euclidean_distance": 4.77069, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.51845, + 6.7048, + 1.97043 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "c66a3e6ef48143f5a86d202e62515386", + "path": [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_146_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + [ + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be" + ], + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_146_newN_0", + [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:33LK57MYLV86OSW568SXUVU4O6HSZZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.46653, + 3.88633, + 0.40292 + ], + "start_rotation": [ + 0, + 0.9821, + 0, + -0.18838 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 23.07562, + "euclidean_distance": 21.86165, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.76214, + 3.28633, + 5.68483 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:33CUSNVVNPF9LCG9JKMF0KX0R4V88K", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.14999, + -0.31367, + -10.83072 + ], + "start_rotation": [ + 0, + 0.7601, + 0, + -0.64981 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.98865, + "euclidean_distance": 9.76802, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.36782, + 3.48633, + -2.84395 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "f1c591c0bc7b43b1896d6c65eaa1f561", + "path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + [ + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3RANCT1ZVHKQL7LTPZ7UNE5QJG7UB1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 16.00947, + -0.1516, + -0.22483 + ], + "start_rotation": [ + 0, + 0.21071, + 0, + -0.97755 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 27.45224, + "euclidean_distance": 25.55395, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.13238, + -0.31367, + -5.37172 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "131ddd8afe144bf9a0d22bdc435f117d", + "path": [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:384PI804XU49M7QF2EF5OWRJ7G4S0E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.58836, + 0.06464, + -1.0848 + ], + "start_rotation": [ + 0, + 0.95343, + 0, + 0.30161 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.24631, + "euclidean_distance": 11.18117, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.70042, + 3.48633, + 8.09997 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "976a7a79035a4583a10624453174d94e", + "path": [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "241fde907a674d6ca8916fd2beec6dfc", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "241fde907a674d6ca8916fd2beec6dfc", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3VE8AYVF8O0I0RQWRYSLACEMH0HF84", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.1987, + 3.88633, + -0.84271 + ], + "start_rotation": [ + 0, + 0.32054, + 0, + 0.94723 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.89063, + "euclidean_distance": 11.13245, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.25784, + 3.48633, + -2.86573 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3EFE17QCRE8KX7WB0MMQUOQZQHRHSP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.60317, + 3.88633, + 3.14452 + ], + "start_rotation": [ + 0, + 0.43531, + 0, + 0.90028 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.86301, + "euclidean_distance": 15.20549, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.75641, + 3.48633, + 8.11949 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + [ + "eb2eb655963a4be08e11d984c87586bd" + ], + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3X4JMASXCOCA5L9DRSTAY7HJG0Y0BU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.14497, + -0.31367, + 2.31385 + ], + "start_rotation": [ + 0, + 0.23902, + 0, + 0.97101 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.508, + "euclidean_distance": 4.8382, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.57967, + -0.31367, + 6.98046 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "72c76f63e9124253b87ef7fe0b85ef85", + "path": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_289_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "refined_path": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3PPTZCWALSNUBCHSE43SZVF36QBZQC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.41997, + -0.91367, + 7.02656 + ], + "start_rotation": [ + 0, + 0.45536, + 0, + 0.89031 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 21.74668, + "euclidean_distance": 15.02333, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.45612, + -0.31367, + 6.8516 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3DHE4R9OCYEDSCK2M1P2I61UFU1G2O", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.99624, + 3.28633, + 4.05059 + ], + "start_rotation": [ + 0, + 0.74397, + 0, + -0.66821 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.87169, + "euclidean_distance": 3.04201, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.29611, + 3.28633, + 6.11446 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "0_edge_290_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:37UQDCYH6ZY3WA73H85JEYLCDTN7V4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -24.94464, + 4.11586, + 6.89254 + ], + "start_rotation": [ + 0, + 0.80887, + 0, + -0.58799 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 29.56415, + "euclidean_distance": 27.01763, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07056, + 3.41404, + 7.19983 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d" + ], + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3EJJQNKU9T88WSWYLXML4EL47TLHRB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.37862, + -0.31367, + -4.38537 + ], + "start_rotation": [ + 0, + 0.77562, + 0, + -0.6312 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.56019, + "euclidean_distance": 13.57658, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.03492, + -0.31367, + -6.77505 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f" + ], + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3PS7W85Z815SX1R7RA3ORCOXBT39T0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 21.59779, + -0.86325, + 5.28811 + ], + "start_rotation": [ + 0, + 0.95123, + 0, + -0.30847 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.86557, + "euclidean_distance": 12.35943, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.2533, + -0.31367, + 4.57588 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "path": [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "refined_path": [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a" + ], + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3SB4CE2TJXYDJ1AWOQILCAKNSUCAXA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.41453, + 3.88633, + 2.22899 + ], + "start_rotation": [ + 0, + 0.49209, + 0, + 0.87055 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 15.33563, + "euclidean_distance": 13.99423, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.04595, + 3.28633, + 5.93176 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3YZ8UPK3VVP9VCDZ3Z3PYYB8DZYCUP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.94116, + 3.28633, + 5.38019 + ], + "start_rotation": [ + 0, + 0.33116, + 0, + -0.94358 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.03722, + "euclidean_distance": 4.68091, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.78946, + 3.28633, + 5.64311 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "5f04c594ab574a4b9f4535abdfab07e0", + "path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:34FNN24DCOC5D0OPYQD6NDBBH6TY57", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.86583, + 3.88633, + 2.81903 + ], + "start_rotation": [ + 0, + 0.94456, + 0, + 0.32835 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 25.43939, + "euclidean_distance": 20.62688, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.96158, + 3.57605, + -10.2641 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9" + ], + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:36PW28KO41Z4D1JFTLSTOLZHVMPEAA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.6871, + 3.88633, + 4.93923 + ], + "start_rotation": [ + 0, + 0.28022, + 0, + 0.95994 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 21.07733, + "euclidean_distance": 18.89216, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06124, + 3.41744, + 7.08567 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3OHYZ19UGE8QPSW4NZVPTXTUI95AO7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.18659, + -0.31367, + -3.42484 + ], + "start_rotation": [ + 0, + 0.01037, + 0, + -0.99995 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.48182, + "euclidean_distance": 15.65924, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.39878, + 0.08633, + -3.18242 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:36H9ULYP64X7K8MFI2PCZ2N0HYXJF8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.3053, + 6.8003, + 1.86415 + ], + "start_rotation": [ + 0, + 0.48983, + 0, + -0.87182 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.02227, + "euclidean_distance": 7.09049, + "closest_goal_object_id": 539, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.34289, + 6.68633, + 7.19052 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_207_newN_1", + "path": [ + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3X73LLYYQ3HNHU46SQ54VUGUMBONHV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.13643, + 5.09317, + -3.75539 + ], + "start_rotation": [ + 0, + 0.19938, + 0, + -0.97992 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 16.15644, + "euclidean_distance": 6.43765, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.29336, + 3.48633, + -5.70631 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "2123d2d754d741d2b1de4ea8328bba51", + "path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3DPNQGW4LNILYXAJE2Z4ZUL35YU46E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.96765, + -0.31367, + -5.48935 + ], + "start_rotation": [ + 0, + 0.85817, + 0, + -0.51337 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.60565, + "euclidean_distance": 4.2934, + "closest_goal_object_id": 131, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.70272, + -0.31367, + -5.98235 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "634ddf341f6443118bea4195d06c6555", + "path": [ + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091" + ], + "refined_path": [ + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "78012bd258674d048a39788bdcec28ea", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3VA45EW49PQUV4J4RG2WIW0SSWF1O4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.74336, + 3.48633, + -7.16145 + ], + "start_rotation": [ + 0, + 0.7928, + 0, + 0.60949 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 22.05091, + "euclidean_distance": 6.82478, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.05375, + 0.28185, + -3.52209 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0674ebc36a2048828d0ce0dc80751886", + "path": [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:38F71OA9GVZXLGS0LZ24FUFHY7DMF7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.46278, + 6.68633, + -1.56591 + ], + "start_rotation": [ + 0, + 0.37234, + 0, + 0.9281 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.57026, + "euclidean_distance": 8.58447, + "closest_goal_object_id": 528, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.59754, + 6.68633, + 7.0124 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "0a7c88b186e6416dad35dadc4154ce93", + "path": [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_126_newN_1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d" + ], + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + [ + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1" + ], + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3QIYRE09Y5KCDJJSQ12J370N2IQ1NX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.75957, + 3.88633, + 2.40165 + ], + "start_rotation": [ + 0, + 0.07901, + 0, + -0.99687 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 20.81709, + "euclidean_distance": 19.37597, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.29747, + 3.28633, + 5.69885 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3I2PTA7R3VXZMHI6E30ICGRRJXXKQP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.75196, + 3.28633, + 4.69072 + ], + "start_rotation": [ + 0, + 0.99664, + 0, + 0.08187 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 25.18521, + "euclidean_distance": 15.11472, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.96101, + 3.57908, + -10.19422 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "5eb29212d43d436ca60e05d19215a0de", + "path": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ], + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:30LB5CDZNED6NJCTX69DKPOM78GZ05", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.2233, + 3.88633, + 2.17114 + ], + "start_rotation": [ + 0, + 0.91357, + 0, + 0.40668 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.93595, + "euclidean_distance": 11.39279, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.02608, + 0.29032, + -3.52286 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:336KAV9KYSVDE352G7B8P68YKKXY2Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.39418, + 6.68633, + -2.41481 + ], + "start_rotation": [ + 0, + 0.90476, + 0, + -0.42593 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.36458, + "euclidean_distance": 7.19171, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.45068, + 6.70082, + 1.8078 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "72f2dbee67884e7d9bd70158fe8e66c9", + "path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "refined_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3WSELTNVR5562K1CJGHON7ZIIJUTAR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.7558, + -0.31367, + 5.8656 + ], + "start_rotation": [ + 0, + 0.70263, + 0, + -0.71155 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 23.72286, + "euclidean_distance": 21.78347, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.98683, + -0.31367, + -6.65174 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "4486a4f9a25742c98cdd93b72fb3220e", + "path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3S4AW7T80DL3HIDQ1656OD30TBW4LX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.76629, + 3.88633, + 5.18256 + ], + "start_rotation": [ + 0, + 0.98911, + 0, + 0.1472 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.80791, + "euclidean_distance": 18.79929, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.87739, + 3.28633, + 5.6927 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3M23Y66PO4A40ICU43VMXX1A0RRS6C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.15114, + 3.88633, + 0.77956 + ], + "start_rotation": [ + 0, + 0.83735, + 0, + -0.54666 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 19.35851, + "euclidean_distance": 18.16773, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.32548, + 3.28633, + 5.68954 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TE3O85732B4H2TG2CJEHAF1FQ02R2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.40969, + 6.68633, + -1.08297 + ], + "start_rotation": [ + 0, + 0.48675, + 0, + 0.87354 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.00077, + "euclidean_distance": 7.76677, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.78266, + 6.68633, + 5.48737 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_126_newN_1", + "path": [ + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A5A14MTB35J23:39JEC7537W498R2Z8PDUUKDRVG8CV3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.35255, + -0.31367, + 3.61058 + ], + "start_rotation": [ + 0, + 0.99768, + 0, + 0.0681 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.38465, + "euclidean_distance": 1.00921, + "closest_goal_object_id": 45, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.85586, + -0.31367, + 4.54043 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "454f883454684daf86530a34b6d007f4", + "path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005" + ], + "refined_path": [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "241fde907a674d6ca8916fd2beec6dfc" + ], + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3IXQG4FA2V1S1FXQROC3RIICJD7B9E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.8091, + 0.08633, + 2.40621 + ], + "start_rotation": [ + 0, + 0.67895, + 0, + -0.73418 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.03331, + "euclidean_distance": 9.85221, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.10958, + -0.31367, + -5.37333 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "b31ae8536d72434ea33243b17fc0dee0", + "path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:32VNZTT0A97EKG836Q22APC0I27R4F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.18938, + 3.48633, + -10.83644 + ], + "start_rotation": [ + 0, + 0.52008, + 0, + -0.85412 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.81115, + "euclidean_distance": 19.18323, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.70581, + 3.48633, + 8.20568 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + [ + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "70be058041854ca4bcfae120bfb3fba0", + [ + "45eac43ea9054cbbaa91863a5aa202fa" + ], + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3M23Y66PO4A40ICU43VMXX1AKI0S6N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.71803, + -0.31367, + 5.84124 + ], + "start_rotation": [ + 0, + 0.58891, + 0, + 0.8082 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 26.19592, + "euclidean_distance": 14.61792, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.2811, + 3.48633, + -2.95779 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_425_newN_0", + "path": [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3LEP4MGT3I3445A734H5DE12AUYBDZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 12.54163, + -0.31367, + 1.19614 + ], + "start_rotation": [ + 0, + 0.19269, + 0, + 0.98126 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.69492, + "euclidean_distance": 7.15753, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.17758, + -0.31367, + 4.48719 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "9dbeee64e93347bea1a127a7cb3eea03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "9dbeee64e93347bea1a127a7cb3eea03", + [ + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + [ + "d8401d8f05d84422a3543e9a1e612d11" + ], + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3FE7TXL1LKQ451EGPXUECK5X225Q2D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.60611, + 6.68633, + -1.27367 + ], + "start_rotation": [ + 0, + 0.47599, + 0, + 0.87945 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 19.1236, + "euclidean_distance": 7.97078, + "closest_goal_object_id": 589, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.6915, + 6.68633, + -7.32723 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_126_newN_1", + "path": [ + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "refined_path": [ + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + [ + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538" + ], + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f", + [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091" + ], + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3JBT3HLQFA59B0GDERO3ZQPUIAGPZH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.55556, + 4.04441, + -1.56088 + ], + "start_rotation": [ + 0, + 0.88294, + 0, + -0.46949 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 16.3302, + "euclidean_distance": 14.30586, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.6978, + 3.28633, + 5.55157 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "830bd3180a5f497d8631f6c8112792d6", + "path": [ + "830bd3180a5f497d8631f6c8112792d6", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_317_newN_0", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "refined_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + [ + "1bd459f9e678429b95ffbda52efa657b" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + [ + "830bd3180a5f497d8631f6c8112792d6" + ], + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:30BXRYBRP60D4ODKKRWRRDTLCODWHF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.06548, + 4.08633, + 7.39448 + ], + "start_rotation": [ + 0, + 0.97859, + 0, + -0.20584 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 28.00179, + "euclidean_distance": 25.20726, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.1334, + 3.42209, + 7.32548 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:379J5II41QJL9KAJQCHJXZFSPZ7LEK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.55058, + -0.31367, + 1.83738 + ], + "start_rotation": [ + 0, + 0.16073, + 0, + -0.987 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 24.53831, + "euclidean_distance": 21.77457, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.16015, + -0.31367, + -5.31952 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34V1S5K3GU4MV3GVVXVVG2WKST096G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.42288, + 3.88633, + 3.19533 + ], + "start_rotation": [ + 0, + 0.9862, + 0, + 0.16558 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.47174, + "euclidean_distance": 12.79679, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.1519, + 3.28633, + 5.99959 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DUZQ9U6SORPF8RV5B3U9PH8074VSJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.56762, + -0.31367, + 10.10202 + ], + "start_rotation": [ + 0, + 0.70833, + 0, + 0.70588 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.56518, + "euclidean_distance": 18.40581, + "closest_goal_object_id": 124, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.43772, + -0.31367, + -7.50917 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "67bfc67489fc45be8e7dcb8b637c566d", + "path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "67bfc67489fc45be8e7dcb8b637c566d", + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + [ + "60ddff235ac44416b783febc3fa613b6" + ], + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QRYMNZ7F0KDM3V1SKMT9DJIX0GNTS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.56314, + -0.31367, + 9.34186 + ], + "start_rotation": [ + 0, + 0.74988, + 0, + 0.66157 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.35758, + "euclidean_distance": 3.71249, + "closest_goal_object_id": 90, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.72402, + -0.31367, + 6.32278 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3WQQ9FUS6CXSNAEGMW6PRMN0JUH8B6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.43605, + 3.88633, + 2.20787 + ], + "start_rotation": [ + 0, + 0.98513, + 0, + 0.17183 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.49218, + "euclidean_distance": 7.96501, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.68156, + 3.28633, + 4.06802 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3M81GAB8A2MYTEEC8QNPDD81W6ZBQD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.32184, + 3.88633, + 2.56809 + ], + "start_rotation": [ + 0, + 0.1935, + 0, + -0.9811 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.24808, + "euclidean_distance": 18.56958, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.14428, + 3.28633, + 4.58073 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:31LM9EDVONVJ80ZWGQ8P77W9W4KNJR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.76111, + -0.31367, + -11.94075 + ], + "start_rotation": [ + 0, + 0.86376, + 0, + 0.50391 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 16.26276, + "euclidean_distance": 14.68665, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.98776, + -0.31367, + -6.74865 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "b6a9f93f5e264750ad8159d4b93ac177", + "path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + [ + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "0_edge_311_newN_0", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e" + ], + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3TXWC2NHN1TRI1ES2AYYH7SCQRHS93", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.38188, + 6.88633, + -4.02807 + ], + "start_rotation": [ + 0, + 0.43611, + 0, + 0.89989 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.01779, + "euclidean_distance": 3.44299, + "closest_goal_object_id": 593, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.98715, + 6.68633, + -4.79301 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "1880ed0a5e3144739cd5fcaacf3b4dfd", + "path": [ + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OLF68YTNB4WJFJBOWCZ63KGOP4FAC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.28275, + -0.31367, + 0.31149 + ], + "start_rotation": [ + 0, + 0.92579, + 0, + 0.37804 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 15.45986, + "euclidean_distance": 13.31102, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.00862, + -0.31367, + -6.87251 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "100294ee82214ab39ad802149f4f1909", + "path": [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3PIWWX1FJL9NPA8B1SGXE0FR91VJJH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.98349, + 3.88633, + 2.62363 + ], + "start_rotation": [ + 0, + 0.42624, + 0, + 0.90461 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.90788, + "euclidean_distance": 20.21625, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.14118, + 3.28633, + 4.58682 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:345LHZDEDZVLICHGA6SO5V7EVNTU37", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.44072, + 3.88633, + 1.70807 + ], + "start_rotation": [ + 0, + 0.78622, + 0, + -0.61795 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 25.1195, + "euclidean_distance": 23.78688, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05667, + 3.28633, + 5.69163 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:39KFRKBFIPYRLAU73595WJB22F0YOA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.91098, + -0.31367, + -14.08631 + ], + "start_rotation": [ + 0, + 0.67223, + 0, + 0.74034 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 15.43282, + "euclidean_distance": 13.96532, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.87829, + -0.31367, + -6.69133 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "d359f126c7b6433c92afc8ee3f327f59", + "path": [ + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3SPJ0334236DKZ3ANSH0ONUG3NJJY9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.24085, + 3.48633, + -0.71002 + ], + "start_rotation": [ + 0, + 0.83994, + 0, + -0.54268 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 22.33901, + "euclidean_distance": 7.60251, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.07397, + -0.31367, + -5.17622 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "bacef43d28c74751a7bd62578d443053", + "path": [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "0674ebc36a2048828d0ce0dc80751886", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3U84XHCDIEGNM7UUG7WFWSEZOGO4ZA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.99766, + -0.31367, + 3.12647 + ], + "start_rotation": [ + 0, + 0.74256, + 0, + -0.66978 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.40647, + "euclidean_distance": 7.56144, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.49006, + -0.31367, + 6.81269 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_438_newN_0", + "path": [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + "d359f126c7b6433c92afc8ee3f327f59", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10" + ], + "refined_path": [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_86_newN_1", + "0_edge_86_newN_0", + [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2" + ], + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + [ + "789db63b2d704e95a468bf4e6332d8f9" + ], + "d359f126c7b6433c92afc8ee3f327f59", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "32e645590a554d8694a69851854a1c10" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3UNH76FOCU83L79VQPUS4FMWQQTMYU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.48849, + -0.31367, + 5.29655 + ], + "start_rotation": [ + 0, + 0.74221, + 0, + -0.67017 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.35101, + "euclidean_distance": 4.99546, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.13698, + -0.31367, + 2.83323 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_425_newN_0", + "path": [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "refined_path": [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + [ + "0_edge_425_newN_1", + "0_edge_425_newN_0" + ], + "60ddff235ac44416b783febc3fa613b6", + "4486a4f9a25742c98cdd93b72fb3220e", + [ + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:37FMASSAYEULCGQTVIIG4BHF2TCBIV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.59178, + 3.88633, + 2.22927 + ], + "start_rotation": [ + 0, + 0.92818, + 0, + -0.37212 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.64691, + "euclidean_distance": 8.1104, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.70794, + 3.28633, + 4.14501 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "81c89eb6368341109260f88eb14a527e", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:31UV0MXWNSFJN09KU8R31PHNV18I5U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.61088, + 3.88633, + 1.47752 + ], + "start_rotation": [ + 0, + 0.82001, + 0, + -0.57235 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 21.70963, + "euclidean_distance": 20.49687, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.16617, + 3.43697, + 7.1684 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A16184N1RO5OJV:3COPXFW7XDFEM5HREQLTCB1HB7EKPA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.61207, + 0.17174, + -2.66768 + ], + "start_rotation": [ + 0, + 0.4814, + 0, + -0.8765 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.04398, + "euclidean_distance": 1.87206, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.8086, + -0.31367, + -2.74131 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_135_newN_0", + "path": [ + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_130_newN_1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A1UURQF07IOXBO:3E7TUJ2EGEPLGCVA5K39M86CPS3D9Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.58446, + 0.10533, + 0.60234 + ], + "start_rotation": [ + 0, + 0.00101, + 0, + -1 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 15.02343, + "euclidean_distance": 8.66972, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.91049, + -0.29889, + -6.07607 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "976a7a79035a4583a10624453174d94e", + "path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3EJJQNKU9T88WSWYLXML4EL4K3MRHJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.33943, + 3.88633, + 1.76969 + ], + "start_rotation": [ + 0, + 0.25771, + 0, + 0.96622 + ], + "object_category": "table", + "info": { + "geodesic_distance": 11.37715, + "euclidean_distance": 10.57654, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.33183, + 3.28633, + 6.10098 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "AMX5R6NLYNA2K:3ZR9AIQJUDCQKMO4CDJNQTBD67B04G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.01068, + 3.98276, + 6.93161 + ], + "start_rotation": [ + 0, + 0.87322, + 0, + -0.48733 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.69175, + "euclidean_distance": 20.46806, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.74207, + 3.28633, + 4.13678 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3E4GGUZ1TAUIUYGLCSAHGYTO3R4K2W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.12128, + -0.31367, + -6.73971 + ], + "start_rotation": [ + 0, + 0.49739, + 0, + 0.86753 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.37533, + "euclidean_distance": 5.64149, + "closest_goal_object_id": 111, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.69427, + -0.31367, + -2.1843 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "6aca4da5a7974141b5179106e1becd66", + "path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + [ + "634ddf341f6443118bea4195d06c6555" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "AS4L6TWK4YSMO:3A9AA95ATYPB4MWO73HNAMIZHFO5PE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.92348, + 3.88633, + 0.2405 + ], + "start_rotation": [ + 0, + 0.95138, + 0, + 0.30802 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 15.3637, + "euclidean_distance": 14.2068, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.04208, + 3.28633, + 5.94433 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3GGAI1SQEX1QI48QUXC37OUE4OUCMM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.00402, + 3.37702, + -7.36826 + ], + "start_rotation": [ + 0, + 0.51321, + 0, + -0.85826 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.33093, + "euclidean_distance": 3.15819, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.68755, + 3.48633, + -8.74396 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "854eec676352475f90d1fb18677f9a8b", + "path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + [ + "428bc90067994001952048f25dc4e57d" + ], + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3TDXMTX3CDXF649YZR18TVVMADS6IM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.16483, + -0.31367, + -3.06595 + ], + "start_rotation": [ + 0, + 0.87013, + 0, + -0.49282 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.36069, + "euclidean_distance": 10.23062, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.28334, + -0.31367, + 7.07393 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_311_newN_0", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "736a864f92174a1facfc05a0eb246091", + "ee34e33014c94bf79cda5892e2ec6b24", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "b54868e8037048d08f1208b26e887005", + "0_edge_450_newN_0", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "refined_path": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:39OWYR0EPMUXFXHE42QF9P2O608YFR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.90572, + 3.48633, + -8.68644 + ], + "start_rotation": [ + 0, + 0.49592, + 0, + -0.86837 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.97143, + "euclidean_distance": 5.20063, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.88562, + 3.56294, + -10.31144 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "45eac43ea9054cbbaa91863a5aa202fa", + "path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa" + ], + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QXNC7EIPKYRHSUGT8FE71MTS6C09D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.64775, + 0.44549, + -3.88407 + ], + "start_rotation": [ + 0, + 0.54157, + 0, + 0.84065 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.147, + "euclidean_distance": 4.88715, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.5043, + 0.08633, + -3.14006 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "682b19fbab024b3ca81f62cd4d287ca7", + "path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A101U3FTZYY87V:33NF62TLXL5I0UETJDG9FFF52FEJKT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.72163, + -0.31367, + -0.15201 + ], + "start_rotation": [ + 0, + 0.54522, + 0, + -0.83829 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.79187, + "euclidean_distance": 9.15254, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.68149, + 3.48633, + 8.15765 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_249_newN_0", + "path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0a615b9369b74696b3babe84de5d7a8a", + "0_edge_88_newN_2", + "0_edge_359_newN_2", + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_384_newN_0", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "90dcb8a526504454b728d3f7951f153f", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_384_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_385_newN_1", + "0_edge_88_newN_0", + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0a615b9369b74696b3babe84de5d7a8a", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a" + ], + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2" + ], + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_384_newN_0", + [ + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_385_newN_1", + "0_edge_88_newN_0", + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + [ + "0_edge_425_newN_0", + "0_edge_425_newN_1" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3C2NJ6JBKCKJ241O952X8QARETV2NY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.11777, + 3.88633, + 5.81828 + ], + "start_rotation": [ + 0, + 0.88325, + 0, + -0.4689 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 25.18937, + "euclidean_distance": 23.14555, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05433, + 3.28633, + 5.68982 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3NAPMVF0ZYIUZJ91TYL8CTO2UES72C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.68719, + -0.31367, + -3.97861 + ], + "start_rotation": [ + 0, + 0.86949, + 0, + -0.49395 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.84884, + "euclidean_distance": 6.89118, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.05191, + -0.31367, + -6.74487 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "21dca84e46e74021858b7343d8200182", + "path": [ + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PH3VY7DJN0ZV9DEQD2YRKXQ88IWZH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.52448, + 3.48633, + -2.08535 + ], + "start_rotation": [ + 0, + 0.85632, + 0, + -0.51644 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.56236, + "euclidean_distance": 4.73301, + "closest_goal_object_id": 101, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.67627, + -0.22886, + -2.28261 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0_edge_177_newN_0", + "path": [ + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3AWETUDC94VHUET91WYJQTOIWWVZIP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.68704, + -0.31367, + -6.5664 + ], + "start_rotation": [ + 0, + 0.83864, + 0, + -0.54469 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.96597, + "euclidean_distance": 7.94137, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.21013, + -0.31367, + -9.03532 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_262_newN_1", + "path": [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "refined_path": [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3N1FSUEFL73KJ6PYOP7I50VW3WMD4R", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.8583, + -0.31367, + -9.86996 + ], + "start_rotation": [ + 0, + 0.34082, + 0, + 0.94013 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.86132, + "euclidean_distance": 3.54226, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.36413, + -0.31367, + -9.26466 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "858ce8552a0a40b686b4de4bc9eec65c", + "path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_79_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "refined_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2" + ], + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3SNVL38CI6VVSG8N9LZNSB2AFJ3CKL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.75292, + 6.68633, + 3.03333 + ], + "start_rotation": [ + 0, + 0.04918, + 0, + -0.99879 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.72277, + "euclidean_distance": 7.15648, + "closest_goal_object_id": 605, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.57158, + 6.68633, + -1.88399 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "c709e0508ab94b139f42d19e7f0dcb53", + "path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ], + "refined_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3LJ7UR74RJGT5IGBDJLL157QH06N41", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.27299, + -0.31367, + -12.00564 + ], + "start_rotation": [ + 0, + 0.79506, + 0, + 0.60653 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.99363, + "euclidean_distance": 2.89748, + "closest_goal_object_id": 157, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.11815, + -0.31367, + -13.69439 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "0d600d9a62be462ca3aa8e9c77d07d5a", + "path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:34PGFRQONQE9VU8A8RZC3Q90PHYJWQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.25516, + -0.31367, + -1.02293 + ], + "start_rotation": [ + 0, + 0.60119, + 0, + 0.79911 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 18.68074, + "euclidean_distance": 17.03889, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.02136, + -0.26244, + -6.14909 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "fd22cb9d82364bbdb6ea4fdb051a7721", + "path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:369J354OFFD1AD3393158JI7CGXG6G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.18408, + 3.48633, + -12.86838 + ], + "start_rotation": [ + 0, + 0.11969, + 0, + 0.99281 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.11876, + "euclidean_distance": 6.69439, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.51518, + 3.48633, + -7.30904 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3O6CYIULEF4I9AJ4KQ3QASIASD2WUL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.74914, + 6.74353, + 1.83797 + ], + "start_rotation": [ + 0, + 0.28382, + 0, + 0.95888 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.16131, + "euclidean_distance": 6.03741, + "closest_goal_object_id": 594, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.03565, + 6.68633, + -3.33456 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "c709e0508ab94b139f42d19e7f0dcb53", + "path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "c66a3e6ef48143f5a86d202e62515386", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3FPRZHYEP0ALVR6GFW2T1H9XM3BV31", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.63224, + 3.28633, + 4.77551 + ], + "start_rotation": [ + 0, + 0.99954, + 0, + -0.03028 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 27.00502, + "euclidean_distance": 15.5248, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.91539, + 3.56929, + -10.26571 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_46_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_46_newN_0" + ] + }, + { + "episode_id": "A1S1K7134S2VUC:3MD9PLUKKKH98F40YCBBV1KY1E8ZN7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.18632, + 3.48633, + -12.68164 + ], + "start_rotation": [ + 0, + 0.16094, + 0, + 0.98696 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.93253, + "euclidean_distance": 6.53939, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.48914, + 3.48633, + -7.19008 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:31Z0PCVWUMIOJI3ECD54DGXSHCX7TP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.70607, + 3.88633, + 1.79658 + ], + "start_rotation": [ + 0, + 0.86739, + 0, + -0.49762 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.93923, + "euclidean_distance": 13.32156, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.26737, + 3.48633, + -3.05881 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8" + ], + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3C2NJ6JBKCKJ241O952X8QARGALN29", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.27104, + 3.88633, + 3.54723 + ], + "start_rotation": [ + 0, + 0.25999, + 0, + 0.96561 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 23.12821, + "euclidean_distance": 15.42086, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.05402, + 0.29397, + -3.46206 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507" + ], + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9" + ], + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + [ + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3OF2M9AATIR809JX1ZJV393VO4LKZU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.26961, + 3.88633, + 0.65182 + ], + "start_rotation": [ + 0, + 0.9764, + 0, + -0.21596 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 23.55613, + "euclidean_distance": 22.42454, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.16787, + 3.42715, + 7.38083 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3I0BTBYZAZO6IT2O1K7U6IFK4D5Y07", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.71344, + 3.88633, + 2.92162 + ], + "start_rotation": [ + 0, + 0.84209, + 0, + 0.53934 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.96739, + "euclidean_distance": 13.51886, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.69896, + 3.48633, + 8.099 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "90dcb8a526504454b728d3f7951f153f", + "0_edge_185_newN_1", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3LKC68YZ3C6NW5Z7O4RHBMQMO9OOWQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.02478, + -0.31367, + -0.46346 + ], + "start_rotation": [ + 0, + 0.96214, + 0, + -0.27256 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.20233, + "euclidean_distance": 4.55547, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.21109, + -0.31367, + 3.02337 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "d12a35cb161641318a92f9e5dd8915db", + "path": [ + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "b54868e8037048d08f1208b26e887005" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "refined_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OF2M9AATIR809JX1ZJV393VO06ZKM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.55816, + 3.88633, + 1.61601 + ], + "start_rotation": [ + 0, + 0.67782, + 0, + 0.73522 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 21.06168, + "euclidean_distance": 19.72865, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.71019, + 3.28633, + 5.56038 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EO896NRAYYH3D4GDMU1G6207YPTJP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.91064, + -0.31367, + -4.24204 + ], + "start_rotation": [ + 0, + 0.60619, + 0, + -0.79532 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.23646, + "euclidean_distance": 4.05887, + "closest_goal_object_id": 105, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.28819, + -0.31367, + -2.30405 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3C8HJ7UOP9X3QXJ0MBWBIMVZX06ZM6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.99847, + 0.08633, + 2.39927 + ], + "start_rotation": [ + 0, + 0.71207, + 0, + 0.70211 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.57952, + "euclidean_distance": 9.23189, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.2324, + 3.48633, + -5.83495 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "b31ae8536d72434ea33243b17fc0dee0", + "path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3AMYWKA6YDPP2QK1XMEDDSR909K6O0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.86829, + -0.31367, + -13.57702 + ], + "start_rotation": [ + 0, + 0.99992, + 0, + 0.013 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 17.99562, + "euclidean_distance": 16.60167, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.86375, + -0.2545, + -6.151 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_70_newN_0", + "path": [ + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + [ + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3QFUFYSY90IHHQ3UFV28T0YHFA5F49", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.24589, + 1.68334, + -4.25361 + ], + "start_rotation": [ + 0, + 0.27196, + 0, + -0.96231 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.51045, + "euclidean_distance": 4.41166, + "closest_goal_object_id": 257, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.95069, + 0.05979, + -0.40886 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "80e307b885d1427e859c654eb2f74042", + "path": [ + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "refined_path": [ + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3C44YUNSI3S68ZBHM9Z68Y6QD7VPDI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.02272, + -0.31367, + -13.10878 + ], + "start_rotation": [ + 0, + 0.42964, + 0, + -0.903 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.65664, + "euclidean_distance": 5.33186, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.99115, + -0.31367, + -11.23033 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "b9dbbef4ae9a4646ba247cf476b1baeb", + "path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "refined_path": [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + [ + "b9dbbef4ae9a4646ba247cf476b1baeb" + ], + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:333U7HK6IBIAMO8JRWUMB2KE257DJG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.41036, + 6.69135, + 2.61324 + ], + "start_rotation": [ + 0, + 0.15284, + 0, + 0.98825 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.11194, + "euclidean_distance": 6.95149, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.10515, + 6.68633, + 8.49142 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "c709e0508ab94b139f42d19e7f0dcb53", + "path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3VHP9MDGRPNKCUG98A8QCYA54SOCFS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.75834, + 3.88633, + 4.4941 + ], + "start_rotation": [ + 0, + 0.04544, + 0, + -0.99897 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 25.74824, + "euclidean_distance": 17.99826, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.07185, + 0.29294, + -3.43979 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_289_newN_0", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + [ + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NKQQ8O3908J04JD3VY0I4TQM0BDUH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.88583, + 0.04841, + 1.66903 + ], + "start_rotation": [ + 0, + 0.84313, + 0, + -0.53771 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.12033, + "euclidean_distance": 9.9371, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.03024, + -0.31367, + -5.15196 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_238_newN_0", + "path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3NPFYT4IZE7ETSNZAQAV8WVR6AJGXA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.29672, + 3.88633, + 1.81925 + ], + "start_rotation": [ + 0, + 0.43849, + 0, + -0.89874 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 21.7895, + "euclidean_distance": 20.4112, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.68176, + 3.28633, + 5.62386 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3WZ36BJEV5JBLU64PUHKIIJODNJTBB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.42449, + 6.68633, + 9.00144 + ], + "start_rotation": [ + 0, + 0.38091, + 0, + 0.92461 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 20.91154, + "euclidean_distance": 16.4484, + "closest_goal_object_id": 589, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.74142, + 6.68633, + -7.31772 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3NG53N1RLXMUR4FQ51OQM6SQG8SP86", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.88885, + -0.31367, + -12.01728 + ], + "start_rotation": [ + 0, + 0.28469, + 0, + 0.95862 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.26376, + "euclidean_distance": 18.16538, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.13352, + -0.31367, + -5.67372 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "b6a9f93f5e264750ad8159d4b93ac177", + "path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3OF2M9AATIR809JX1ZJV393VL74ZKV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.75125, + -0.31367, + -3.08778 + ], + "start_rotation": [ + 0, + 0.89927, + 0, + -0.4374 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.25681, + "euclidean_distance": 6.07201, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.67036, + -0.31367, + -2.69318 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3KJYX6QCMBEWG585IHUGHOQMHQYJVH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.29148, + 3.28633, + 3.05045 + ], + "start_rotation": [ + 0, + 0.9019, + 0, + 0.43195 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.98187, + "euclidean_distance": 2.75364, + "closest_goal_object_id": 363, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -5.01093, + 3.48633, + 2.5937 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3300DTYQT4KW0HQWIHPFELEMZ6EQE0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.90547, + 6.82398, + 1.64419 + ], + "start_rotation": [ + 0, + 0.21811, + 0, + -0.97593 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 11.06196, + "euclidean_distance": 8.03801, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.09688, + 6.68633, + 8.43708 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "0_edge_282_newN_1", + "path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7f2859e1af57442ea602142e8fc3ebe0", + "0a7c88b186e6416dad35dadc4154ce93", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049" + ], + "7f2859e1af57442ea602142e8fc3ebe0", + [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + [ + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3Z7VU45IP0K6U8XBTPDDYU7WZMX1ZG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.49718, + -0.31367, + -9.44393 + ], + "start_rotation": [ + 0, + 0.79915, + 0, + -0.60113 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 11.15345, + "euclidean_distance": 9.55032, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.12995, + -0.31367, + -5.32935 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_83_newN_1", + "path": [ + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "90dcb8a526504454b728d3f7951f153f", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "0_edge_185_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3" + ], + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3XXU1SWE8OY5MB4LLETE3WXDYPOA0Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.40238, + 6.68633, + 2.21323 + ], + "start_rotation": [ + 0, + 0.27834, + 0, + -0.96048 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 4.06138, + "euclidean_distance": 3.09768, + "closest_goal_object_id": 500, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.68735, + 6.71767, + 2.29547 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "479c8982b70a4ae5be3dcf5148b4c739", + "path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "refined_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + [ + "479c8982b70a4ae5be3dcf5148b4c739" + ], + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:31LM9EDVONVJ80ZWGQ8P77W8GANNJO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.08693, + -0.31367, + -8.31621 + ], + "start_rotation": [ + 0, + 0.99765, + 0, + -0.06848 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.67646, + "euclidean_distance": 6.95113, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.19464, + 3.48633, + -2.96704 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "a0538fdc778f4a90ba3b0ef0f40d5caa", + "path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3PM8NZGV80J56HHDDMF72AZTFCIQX2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.76388, + 3.48633, + -1.39629 + ], + "start_rotation": [ + 0, + 0.92338, + 0, + 0.38389 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 17.8663, + "euclidean_distance": 7.03107, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.33303, + 3.48633, + -5.82003 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "830bd3180a5f497d8631f6c8112792d6", + "path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3X65QVEQI2Q6CMQ5ULBO7BFON0ALCE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.16623, + -0.31367, + -16.90387 + ], + "start_rotation": [ + 0, + 0.68935, + 0, + 0.72443 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.84085, + "euclidean_distance": 16.81034, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.86559, + -0.31367, + -6.35855 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "32e645590a554d8694a69851854a1c10", + "path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A1S1K7134S2VUC:3GNCZX450KQ8AS852Z84IXYKS8BPA1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.07426, + 3.88633, + 0.88299 + ], + "start_rotation": [ + 0, + 0.08223, + 0, + 0.99661 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 25.27894, + "euclidean_distance": 19.31894, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.33121, + 3.48633, + -10.19766 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3S4AW7T80DL3HIDQ1656OD3195NL4B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.58152, + -0.31367, + 8.61866 + ], + "start_rotation": [ + 0, + 0.97445, + 0, + -0.22462 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.24813, + "euclidean_distance": 3.08332, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.08544, + -0.31367, + 5.50649 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "0_edge_76_newN_0" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "refined_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_76_newN_0", + [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:34FNN24DCOC5D0OPYQD6NDBBIOXY5C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.25869, + -0.31367, + 2.09009 + ], + "start_rotation": [ + 0, + 0.81921, + 0, + -0.5735 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.23029, + "euclidean_distance": 15.61028, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.89233, + -0.31226, + -6.05101 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "72c76f63e9124253b87ef7fe0b85ef85", + "path": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_130_newN_1", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NGMS9VZTNLRF60JZCYRK4V843DFF2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 13.67401, + -0.28792, + 0.49108 + ], + "start_rotation": [ + 0, + 0.55782, + 0, + 0.82997 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.98718, + "euclidean_distance": 8.48725, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.14053, + -0.31367, + 4.42579 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "193d45e0b5d842e69acc5813e478f614", + "path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3YW4XOSQKSOP8931N2E5H2SGUR41UI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.26194, + -0.31367, + -8.47319 + ], + "start_rotation": [ + 0, + 0.65462, + 0, + -0.75595 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.84829, + "euclidean_distance": 4.58938, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.27521, + -0.31367, + -4.10923 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "a0538fdc778f4a90ba3b0ef0f40d5caa", + "path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_54_newN_1", + "0_edge_99_newN_0", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1" + ], + "refined_path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_54_newN_1", + [ + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a" + ], + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3HSYG7LRBL1DBEKB1YGLGUFIKV1KK1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.77914, + -0.31367, + -14.63374 + ], + "start_rotation": [ + 0, + 0.08744, + 0, + -0.99617 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 18.80652, + "euclidean_distance": 16.48066, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.93402, + -0.31367, + -7.14539 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "0_edge_68_newN_1", + "path": [ + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3ND9UOO81M5FQKWABCBPJ5MST06WLW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.90036, + -0.31367, + -2.35348 + ], + "start_rotation": [ + 0, + 0.8895, + 0, + -0.45694 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.10078, + "euclidean_distance": 12.51293, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.32119, + -0.31367, + 6.84816 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:35L9RVQFCQL0CKOFPRHQ9P8OR3IHU7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.96837, + 3.88633, + 2.72274 + ], + "start_rotation": [ + 0, + 0.99871, + 0, + 0.05079 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 26.20539, + "euclidean_distance": 21.13201, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.38528, + 3.48633, + -10.10484 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:35GCEFQ6I7R24BBQGTRWMNMTALZ3Z5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.52995, + -0.31367, + 7.85899 + ], + "start_rotation": [ + 0, + 0.9819, + 0, + -0.18938 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.46138, + "euclidean_distance": 15.55927, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.43412, + 0.08633, + -3.20026 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "dbef8aac0198493597e8e5aec0de17cb", + "path": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AS2MFSWNC5CQI:3Q5C1WP23O48NUDMM16X9Q01AL015S", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.52477, + -0.31367, + -15.34265 + ], + "start_rotation": [ + 0, + 0.38618, + 0, + 0.92242 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.98922, + "euclidean_distance": 11.21977, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.26012, + -0.31367, + -4.13012 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "7e8326b2742643919d565d01ff4cb501", + "path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "refined_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + [ + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63" + ], + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + [ + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177" + ], + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:30BXRYBRP60D4ODKKRWRRDTLCU4HW3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.22803, + -0.31367, + 1.22803 + ], + "start_rotation": [ + 0, + 0.9859, + 0, + -0.16733 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 21.38665, + "euclidean_distance": 18.44019, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.16533, + -0.31367, + -5.15546 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_438_newN_1", + "path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3XIQGXAUMEBV0ZCYHN612JIXRVJ7XB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.12641, + 3.48633, + -8.82239 + ], + "start_rotation": [ + 0, + 0.91126, + 0, + 0.41184 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.95654, + "euclidean_distance": 5.88069, + "closest_goal_object_id": 382, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.7749, + 3.48633, + -8.94022 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "45eac43ea9054cbbaa91863a5aa202fa", + "path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3KOPY89HMA5C4W6MY7OAYTY2BVHJ3T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.7607, + -0.31367, + -8.99261 + ], + "start_rotation": [ + 0, + 0.3604, + 0, + -0.9328 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.14309, + "euclidean_distance": 6.77399, + "closest_goal_object_id": 111, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.70744, + -0.31367, + -2.10857 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_367_newN_2", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "refined_path": [ + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1" + ], + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0" + ], + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + [ + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9" + ], + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + [ + "634ddf341f6443118bea4195d06c6555" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "b682278fff3c4478b2f6e2012e31fd18" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3P4RDNWND79RUZO5JAVX2Z0SD1RJI3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.50759, + -0.31367, + 7.92804 + ], + "start_rotation": [ + 0, + 0.53687, + 0, + -0.84366 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 10.97224, + "euclidean_distance": 10.12794, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.67252, + 0.17387, + 0.85471 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ] + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3R2PKQ87NYBHV7UQM78PIRS9ET2IMF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.84693, + 6.53513, + -1.04607 + ], + "start_rotation": [ + 0, + 0.54609, + 0, + 0.83773 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.70479, + "euclidean_distance": 10.65497, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.35003, + 6.68633, + 6.76056 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "28472c433dc74f21aca3fa4722bb1666", + "path": [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "0_edge_146_newN_0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "72f2dbee67884e7d9bd70158fe8e66c9", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be" + ], + "refined_path": [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "72f2dbee67884e7d9bd70158fe8e66c9", + [ + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:339ANSOTR75M5JUN1VV93E05CEHKIP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.54497, + 3.88633, + 4.17237 + ], + "start_rotation": [ + 0, + 0.1865, + 0, + -0.98245 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 26.55315, + "euclidean_distance": 24.66757, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.97676, + 3.28633, + 5.86338 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1S1K7134S2VUC:3R8YZBNQ9JLBR2BMV9B98BM5DHG7QX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 16.20885, + -0.17219, + -2.58151 + ], + "start_rotation": [ + 0, + 0.91776, + 0, + -0.39714 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.95824, + "euclidean_distance": 12.25799, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.07777, + -0.31367, + 4.48986 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "path": [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6" + ], + "refined_path": [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + [ + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6" + ] + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3T111IHZ5GTFHMEFNLYTRXNFLLF9RK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.91034, + 3.88633, + 2.07075 + ], + "start_rotation": [ + 0, + 0.75394, + 0, + -0.65695 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 27.95911, + "euclidean_distance": 26.49016, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.40471, + 3.28633, + 5.70453 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:39LOEL67OU8NKFA373RJ93PPB7783A", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.30396, + 3.88633, + 2.6712 + ], + "start_rotation": [ + 0, + 0.35627, + 0, + 0.93438 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.23409, + "euclidean_distance": 18.54104, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.06276, + 3.28633, + 4.7053 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:3Q5ZZ9ZEVQIQYUX7LMFCO0N9S6Y586", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.79314, + 0.72453, + -4.69582 + ], + "start_rotation": [ + 0, + 0.67291, + 0, + 0.73972 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 14.96792, + "euclidean_distance": 5.48696, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.85489, + -0.29891, + -6.07175 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "682b19fbab024b3ca81f62cd4d287ca7", + "path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_367_newN_2", + "0_edge_311_newN_0", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1" + ], + "0_edge_262_newN_0", + [ + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0" + ], + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + [ + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7" + ], + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3II4UPYCOLAR8BCWMMEV83W1WPGDQK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.13293, + -0.31367, + -2.84983 + ], + "start_rotation": [ + 0, + 0.99819, + 0, + -0.06017 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.87549, + "euclidean_distance": 10.31115, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.86094, + -0.31367, + 6.98878 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WYP994K19U1W4O339NBFJPBHFZY6E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.86461, + 3.88633, + 4.94813 + ], + "start_rotation": [ + 0, + 0.33425, + 0, + 0.94248 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 27.00869, + "euclidean_distance": 24.94132, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.03596, + 3.28633, + 5.90507 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3Y4W8Q93L1NJDJ8D8L85EQV8ZS0VD7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.1139, + 3.28633, + 0.76093 + ], + "start_rotation": [ + 0, + 0.85284, + 0, + -0.52218 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.11816, + "euclidean_distance": 2.02771, + "closest_goal_object_id": 363, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -5.07115, + 3.48633, + 2.61631 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3JCG6DTRV5TLXKG1R8KF82302WEQQI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.66724, + 7.28633, + 0.17034 + ], + "start_rotation": [ + 0, + 0.00227, + 0, + -1 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.70963, + "euclidean_distance": 7.65751, + "closest_goal_object_id": 598, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.19554, + 6.68633, + -7.24123 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_282_newN_1", + "path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:30ZX6P7VFAYNJEA3U7A5FJTBO6FJ2F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.88911, + 3.4411, + -1.65024 + ], + "start_rotation": [ + 0, + 0.96573, + 0, + -0.25954 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.3832, + "euclidean_distance": 10.81106, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.20632, + 3.43768, + 7.34087 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "bacef43d28c74751a7bd62578d443053", + "path": [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3ATPCQ38JAD2J606TM4NVORXDVJAY4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.23381, + 3.88633, + 4.17081 + ], + "start_rotation": [ + 0, + 0.83095, + 0, + -0.55635 + ], + "object_category": "table", + "info": { + "geodesic_distance": 14.52867, + "euclidean_distance": 12.71361, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.37574, + 3.28633, + 6.1243 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:34Z02EIMIUGA173UREKVY1N59XKT02", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.64048, + 3.28633, + 2.18322 + ], + "start_rotation": [ + 0, + 0.95337, + 0, + 0.30181 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.84581, + "euclidean_distance": 5.77441, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.99562, + 3.28633, + 5.60934 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "cc6552274d7e482cbd3bf904d5754203", + "path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3F6KKYWMND465EZ46UME491VBDHNDB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.9294, + 3.88633, + 1.88086 + ], + "start_rotation": [ + 0, + 0.99953, + 0, + 0.03071 + ], + "object_category": "table", + "info": { + "geodesic_distance": 17.92452, + "euclidean_distance": 16.78777, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.33746, + 3.28633, + 6.09678 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:32M8BPYGAVPH3XY4B4AU5M8B4PHIGI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.4243, + -0.91367, + -1.13104 + ], + "start_rotation": [ + 0, + 0.9753, + 0, + 0.22089 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.74985, + "euclidean_distance": 10.73993, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.23335, + -0.31367, + 4.55373 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0_edge_122_newN_0", + "path": [ + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + [ + "0_edge_122_newN_0" + ], + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:39ZSFO5CAAZW3QJ5DRKBL2O346ZJUD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.69604, + 3.88633, + 4.91932 + ], + "start_rotation": [ + 0, + 0.64222, + 0, + 0.76652 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.16482, + "euclidean_distance": 21.69708, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.80517, + 3.48633, + 8.15063 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3I2PTA7R3VXZMHI6E30ICGRR3P9KQ5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.34799, + 3.88633, + 7.88573 + ], + "start_rotation": [ + 0, + 0.28963, + 0, + 0.95714 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.67229, + "euclidean_distance": 20.24427, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.31707, + 3.48633, + -3.09374 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:39GXDJN2OVH7WOCMRDXPSYH81FGV8L", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.40392, + -0.31367, + -9.50648 + ], + "start_rotation": [ + 0, + 0.82056, + 0, + 0.57156 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.78703, + "euclidean_distance": 8.15392, + "closest_goal_object_id": 111, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.7452, + -0.31367, + -2.10663 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "858ce8552a0a40b686b4de4bc9eec65c", + "path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2" + ], + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3QFUFYSY90IHHQ3UFV28T0YGWF6F4Z", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.23137, + -0.31367, + 9.44744 + ], + "start_rotation": [ + 0, + 0.05355, + 0, + -0.99857 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 25.8248, + "euclidean_distance": 21.72185, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.31336, + 0.08633, + -3.19786 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "9c87bfbb759549478b4159a471d78826", + "path": [ + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "9c87bfbb759549478b4159a471d78826", + "60ddff235ac44416b783febc3fa613b6", + "9dbeee64e93347bea1a127a7cb3eea03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3H7Z272LX9AP6BZ9ZQXURBEW03DPL4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.39952, + -0.31367, + -0.23053 + ], + "start_rotation": [ + 0, + 0.44217, + 0, + -0.89693 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.21198, + "euclidean_distance": 7.98589, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.85588, + -0.31367, + 6.81797 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "d12a35cb161641318a92f9e5dd8915db", + "path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "cc6552274d7e482cbd3bf904d5754203", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3DBQWDE4Y81B11KBRO4V6XD4H0TN56", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.56583, + 3.88633, + 3.85587 + ], + "start_rotation": [ + 0, + 0.87282, + 0, + 0.48804 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.55437, + "euclidean_distance": 25.71344, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.20104, + 3.28633, + 4.48021 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3T3IWE1XG8QYP08T8CEAD7EN2ATTQ9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.72145, + 3.88633, + 0.60187 + ], + "start_rotation": [ + 0, + 0.36463, + 0, + 0.93115 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.87527, + "euclidean_distance": 14.44217, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.69945, + 3.28633, + 4.06948 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3WZ36BJEV5JBLU64PUHKIIJOGFCTBR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.67307, + -0.31367, + -14.2109 + ], + "start_rotation": [ + 0, + 0.78702, + 0, + 0.61693 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 25.69612, + "euclidean_distance": 13.25148, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.264, + 3.48633, + -2.87079 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "7c2ba622b1ae4a68a8dc97c69030da06", + "path": [ + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:33F859I568GLGLF9P00V4ZGZMGRHBK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.39242, + 1.04208, + -4.48973 + ], + "start_rotation": [ + 0, + 0.70264, + 0, + 0.71155 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.79844, + "euclidean_distance": 4.50526, + "closest_goal_object_id": 101, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.67726, + -0.22892, + -2.30893 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "d3e8b8227bae4a98a88d307d56b02908", + "path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_133_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "refined_path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A2J6S7QR4CGXTW:33C7UALJVN1RACWOKZD0LAASGQP18G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.53616, + -0.31367, + 6.28853 + ], + "start_rotation": [ + 0, + 0.44033, + 0, + -0.89784 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 22.84627, + "euclidean_distance": 18.38688, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.90015, + -0.17788, + -6.26098 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "60434c00433b4438912eebe9bd2c6984", + "path": [ + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:30LB5CDZNED6NJCTX69DKPOLTE80ZU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.03807, + -0.31367, + -9.08646 + ], + "start_rotation": [ + 0, + 0.97862, + 0, + -0.20569 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.82421, + "euclidean_distance": 5.45228, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.34087, + -0.31367, + -4.28265 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_79_newN_0", + "path": [ + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:38BQUHLA9Y3RRT5TK2LU2OOVT1VMO9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.03807, + 3.48633, + -12.93456 + ], + "start_rotation": [ + 0, + 0.97714, + 0, + 0.21262 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.67507, + "euclidean_distance": 4.98876, + "closest_goal_object_id": 382, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.75464, + 3.48633, + -8.93004 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:392CY0QWG3U1RH5KG38TWXB9S2A4IZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.14597, + 6.68633, + 3.61467 + ], + "start_rotation": [ + 0, + 0.8823, + 0, + -0.47068 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.99052, + "euclidean_distance": 4.73167, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.41349, + 6.68633, + 6.87323 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "d547331b610244018371be43294f36c1", + "path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1" + ], + "refined_path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:373ERPL3YQBY11NTLR3AIXOSINRTR8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.27317, + -0.31367, + -9.27206 + ], + "start_rotation": [ + 0, + 0.62278, + 0, + -0.7824 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.34498, + "euclidean_distance": 7.16323, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.93317, + -0.31367, + -6.72673 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "a0538fdc778f4a90ba3b0ef0f40d5caa", + "path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:33PPUNGG3A8UNDWSRJSS4LP9JWBRZQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.1859, + 7.28633, + -0.69211 + ], + "start_rotation": [ + 0, + 0.99469, + 0, + 0.10296 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 12.44952, + "euclidean_distance": 8.16835, + "closest_goal_object_id": 528, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.51244, + 6.68633, + 7.10897 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "c130d4a1cbb642c0b7fc079969f2d6fd", + "path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3CP1TO84PV4FCFVI556BE9A5NX252W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.56734, + -0.09826, + -6.64683 + ], + "start_rotation": [ + 0, + 0.96806, + 0, + 0.25072 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.87786, + "euclidean_distance": 9.72081, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.10674, + -0.31367, + -9.19755 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "af61ae476e8c4c6e9ee79090fd72f1c9", + "path": [ + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_135_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "refined_path": [ + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + [ + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "3ae10635160248a58e2197541e621ddb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:32SVAV9L3HC1333I41BX5UVK1ZRA38", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.494, + -0.31367, + -0.17919 + ], + "start_rotation": [ + 0, + 0.70668, + 0, + -0.70754 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.39799, + "euclidean_distance": 7.05398, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.13363, + -0.31367, + 4.49237 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3HWRJOOET758DX59ALEK9LTNE1LSEO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.25017, + 0.26879, + -1.68085 + ], + "start_rotation": [ + 0, + 0.30509, + 0, + 0.95232 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 25.47742, + "euclidean_distance": 6.55118, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.26557, + 3.48633, + -5.86451 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "f97419bd62f6462fbbf8fb8adc4dea29", + "path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:37M28K1J0SGCOH577M3KL1C9WGKAJU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.4457, + 3.48633, + -1.94715 + ], + "start_rotation": [ + 0, + 0.82878, + 0, + -0.55958 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.59965, + "euclidean_distance": 9.49678, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.86721, + 3.56224, + -10.26711 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "a9842ed3d2064064a0c6a8c661916237", + "path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TE3O85732B4H2TG2CJEHAF2YNOR2U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.28873, + -0.31367, + -2.65642 + ], + "start_rotation": [ + 0, + 0.61712, + 0, + 0.78687 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.49913, + "euclidean_distance": 3.23381, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.47897, + -0.31367, + 0.143 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0_edge_130_newN_0", + "path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3YGXWBAF72KAEEJKOTC7LUDE2N5C4N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.2647, + 3.48633, + 1.65043 + ], + "start_rotation": [ + 0, + 0.44868, + 0, + -0.89369 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.05563, + "euclidean_distance": 8.28513, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.10707, + 3.28633, + 5.67683 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e908015113524e25a0fe06c0f88d6bb2", + "path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3M81GAB8A2MYTEEC8QNPDD81T5EQB2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.88279, + 7.28633, + -0.86291 + ], + "start_rotation": [ + 0, + 0.987, + 0, + -0.16073 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.179, + "euclidean_distance": 3.39637, + "closest_goal_object_id": 605, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.15062, + 6.68633, + -2.50062 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_282_newN_0", + "path": [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_1", + "0_edge_365_newN_0", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "refined_path": [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ON104KXQMZJSCPP5KC8XOKH7JAW4C", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.39352, + 3.89518, + 4.9992 + ], + "start_rotation": [ + 0, + 0.92439, + 0, + 0.38144 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 26.66665, + "euclidean_distance": 24.56006, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05923, + 3.41373, + 7.15348 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37FMASSAYEULCGQTVIIG4BHF5YDIBG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.25638, + 6.68633, + -6.53968 + ], + "start_rotation": [ + 0, + 0.6206, + 0, + 0.78412 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 19.34583, + "euclidean_distance": 15.47499, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.21866, + 6.68633, + 8.58682 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "57180afbe3c341b18a9483752afb6f9a", + "path": [ + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A16K7X677N4WN6:382M9COHEJIOSAXDZQ9KOMBBZYSEUC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.73682, + 6.8652, + -2.92912 + ], + "start_rotation": [ + 0, + 0.82886, + 0, + -0.55946 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 15.57331, + "euclidean_distance": 12.13406, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.26952, + 6.68633, + 8.57853 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "40bd5db3c01e445d903b58f86beaf72a", + "path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "0_edge_365_newN_2", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:36WLNQG781D9WBO7ZZSPJWJNA8DEBD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -24.247, + 4.08633, + 5.43862 + ], + "start_rotation": [ + 0, + 0.99066, + 0, + -0.13638 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 28.19803, + "euclidean_distance": 26.27856, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.0487, + 3.28633, + 5.67146 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3WT783CTPDKUZD4T38MUT8JKP0VCBL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.87441, + 3.88633, + 1.44575 + ], + "start_rotation": [ + 0, + 0.90174, + 0, + -0.43227 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.14312, + "euclidean_distance": 7.95961, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.24406, + 3.48633, + -3.00503 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3EA3QWIZ4KYL82KAV49145N1B13TIZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.83955, + 3.88633, + 2.8026 + ], + "start_rotation": [ + 0, + 0.8987, + 0, + 0.43855 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 22.90538, + "euclidean_distance": 21.36853, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.32205, + 3.28633, + 5.57784 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37W3JXSD68BZQJ39UR0FDDOO13EYW5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.73345, + 3.48633, + -7.51346 + ], + "start_rotation": [ + 0, + 0.92197, + 0, + 0.38725 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.04316, + "euclidean_distance": 5.63658, + "closest_goal_object_id": 382, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.6754, + 3.48633, + -8.92154 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "33a824661ad34d9391d80d87485b5356", + "path": [ + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OLF68YTNB4WJFJBOWCZ63KH4V2AFZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.57668, + -0.31367, + -3.52706 + ], + "start_rotation": [ + 0, + 0.50135, + 0, + 0.86524 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 23.13732, + "euclidean_distance": 11.51903, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.26365, + 3.48633, + -2.8472 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + [ + "634ddf341f6443118bea4195d06c6555" + ], + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + [ + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + [ + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3FTYUGLFSWO2FPTY2UQSAS1A0Z8D5Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.59914, + -0.19164, + 6.06184 + ], + "start_rotation": [ + 0, + 0.50601, + 0, + -0.86253 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.02951, + "euclidean_distance": 9.52318, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.23371, + -0.31367, + -2.35332 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_341_newN_0", + "path": [ + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "refined_path": [ + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + [ + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3J88R45B2I1K65GYD90I259JAALXPV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.62605, + 4.08633, + 4.25316 + ], + "start_rotation": [ + 0, + 0.68447, + 0, + -0.72904 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 14.77462, + "euclidean_distance": 11.4766, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.68794, + 3.28633, + 5.65659 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "0_edge_185_newN_0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3FE2ERCCZZBXCW26CIDMJSIPHV2OPY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.95689, + 3.48633, + -1.96859 + ], + "start_rotation": [ + 0, + 0.99993, + 0, + 0.0116 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 14.69253, + "euclidean_distance": 12.79491, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.08218, + 3.28633, + 6.01413 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "830bd3180a5f497d8631f6c8112792d6", + "path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3TVRFO09GMIUFK10LH7BLO0Z27VXLJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.82001, + -0.31367, + 7.61042 + ], + "start_rotation": [ + 0, + 0.9309, + 0, + -0.36526 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 20.1242, + "euclidean_distance": 17.40831, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.9795, + -0.31367, + -6.80818 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "dbef8aac0198493597e8e5aec0de17cb", + "path": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ], + "refined_path": [ + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_262_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:34V1S5K3GU4MV3GVVXVVG2WK4S269P", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.98085, + -0.31367, + 3.78756 + ], + "start_rotation": [ + 0, + 0.07119, + 0, + 0.99746 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.35802, + "euclidean_distance": 2.14008, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.32277, + -0.30968, + 5.93481 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "bc497ec23cba4e7b9630cf20f5a73b03", + "path": [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TK8OJTYM3OS2GB3DUZ0EKCYU3BPVQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.61474, + 3.88633, + 2.79382 + ], + "start_rotation": [ + 0, + 0.50082, + 0, + -0.86555 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.83886, + "euclidean_distance": 16.3941, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.13447, + 3.42136, + 7.3457 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AM7FYVGVOEP66:37M28K1J0SGCOH577M3KL1C90UOJA3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.44413, + 3.88633, + 2.77401 + ], + "start_rotation": [ + 0, + 0.05573, + 0, + -0.99845 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.37326, + "euclidean_distance": 20.66109, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.99424, + 3.28633, + 4.47331 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3EG49X351WFCWZYTYD19W5I2C51X6S", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.7455, + 6.68633, + 6.70267 + ], + "start_rotation": [ + 0, + 0.52282, + 0, + -0.85244 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.48019, + "euclidean_distance": 5.79299, + "closest_goal_object_id": 554, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.04685, + 6.68633, + 2.33009 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "c66a3e6ef48143f5a86d202e62515386", + "path": [ + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "refined_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + [ + "c66a3e6ef48143f5a86d202e62515386" + ], + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3IKZ72A5B6J33YD0X0H4S94H3WVFN6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.6565, + 3.88633, + 1.2383 + ], + "start_rotation": [ + 0, + 0.47685, + 0, + -0.87899 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.35455, + "euclidean_distance": 10.48149, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.95752, + 0.29441, + -3.59029 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "90dcb8a526504454b728d3f7951f153f", + "0_edge_185_newN_1", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:38F71OA9GVZXLGS0LZ24FUFHXQ5MF0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.88986, + -0.31367, + -6.49808 + ], + "start_rotation": [ + 0, + 0.513, + 0, + 0.85839 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.45383, + "euclidean_distance": 3.45156, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.2959, + -0.31367, + -4.23375 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "6811d52593b740cb9047202ce1e8a1e4", + "path": [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5" + ], + "refined_path": [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "5395b0d960da4a10a3fa76ec47a060f5" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:30X31N5D65T5NKOXUGCYD23VDFPASH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.33492, + 0.24397, + 5.81231 + ], + "start_rotation": [ + 0, + 0.78983, + 0, + -0.61333 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 17.97283, + "euclidean_distance": 13.80728, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.90809, + -0.31367, + -6.75044 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "d9b3b2d4da2e421ab0bf916e8aef3512", + "path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3WQ3B2KGEAJACAUVNBXACC0TLTP1BL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.27611, + 3.28633, + 3.74861 + ], + "start_rotation": [ + 0, + 0.99888, + 0, + -0.04742 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.56724, + "euclidean_distance": 7.45127, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.19894, + 3.28633, + 4.4588 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + [ + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:34S6N1K2ZXMXTU1LGDPPI2C5EI1LH5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.13664, + -0.31367, + -3.76295 + ], + "start_rotation": [ + 0, + 0.38057, + 0, + -0.92475 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.96046, + "euclidean_distance": 6.57874, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.89121, + -0.31367, + -6.80921 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "5395b0d960da4a10a3fa76ec47a060f5", + "path": [ + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:32SVAV9L3HC1333I41BX5UVK4ZD3AQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.72052, + 3.88633, + 5.88448 + ], + "start_rotation": [ + 0, + 0.99891, + 0, + -0.04672 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.37333, + "euclidean_distance": 17.80755, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.25502, + 3.48633, + -5.86543 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9" + ], + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3C2NJ6JBKCKJ241O952X8QASHHC2NW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.03604, + 6.68633, + 5.68432 + ], + "start_rotation": [ + 0, + 0.88342, + 0, + -0.46859 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.29754, + "euclidean_distance": 3.08508, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.25914, + 6.68633, + 8.55314 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "c66a3e6ef48143f5a86d202e62515386", + "path": [ + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + [ + "c66a3e6ef48143f5a86d202e62515386" + ], + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FTYUGLFSWO2FPTY2UQSAS1A3YTD5K", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.54706, + -0.31367, + -15.7865 + ], + "start_rotation": [ + 0, + 0.16868, + 0, + 0.98567 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 28.01628, + "euclidean_distance": 15.46773, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.39477, + 3.48633, + -2.85074 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "32e645590a554d8694a69851854a1c10", + "path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + [ + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:30IQTZXKAM9HIOCEWOLSN48B27T0XL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.85714, + -0.31367, + -8.93207 + ], + "start_rotation": [ + 0, + 0.88278, + 0, + 0.4698 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.71315, + "euclidean_distance": 11.19228, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.91827, + -0.21246, + -6.22957 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f5d15314913f4453aca1219437398794", + "path": [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3ZOTGHDK5KEUPOIY4ZHGEXN1IR3SOG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.05427, + -0.31367, + 9.53031 + ], + "start_rotation": [ + 0, + 0.67284, + 0, + -0.73979 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 12.84405, + "euclidean_distance": 8.78333, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.67781, + 0.17252, + 0.87894 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ] + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3QAPZX2QN6GGH89H8Z0ZXEEFPYE02W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -24.12152, + 4.08633, + 5.92602 + ], + "start_rotation": [ + 0, + 0.82537, + 0, + -0.56459 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 29.68411, + "euclidean_distance": 26.97761, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.70223, + 3.48633, + 7.97073 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "90dcb8a526504454b728d3f7951f153f", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:30X31N5D65T5NKOXUGCYD23VFXNASH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.93363, + 3.88633, + 4.89815 + ], + "start_rotation": [ + 0, + 0.38236, + 0, + 0.92401 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 23.27051, + "euclidean_distance": 21.12794, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07494, + 3.41877, + 7.05859 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3YW4XOSQKSOP8931N2E5H2SGW1NU1G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.07521, + 6.68633, + 3.82146 + ], + "start_rotation": [ + 0, + 0.92311, + 0, + 0.38454 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.29671, + "euclidean_distance": 2.39902, + "closest_goal_object_id": 513, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.84258, + 6.68633, + 5.52073 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "2142035ff0ff419f81fed8875fccf577", + "path": [ + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "c66a3e6ef48143f5a86d202e62515386", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f" + ], + "refined_path": [ + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "c66a3e6ef48143f5a86d202e62515386", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577" + ], + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3SUWZRL0M0G3QZ7C38BH8GXVWZ66E8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.78143, + 3.48633, + -9.12267 + ], + "start_rotation": [ + 0, + 0.24456, + 0, + -0.96964 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.52482, + "euclidean_distance": 4.95963, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.93073, + 3.57303, + -10.2316 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "45eac43ea9054cbbaa91863a5aa202fa", + "path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3FDJT1UU76BATVZ8UBCFE5W0N2U5KJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.75614, + -0.31367, + -6.36338 + ], + "start_rotation": [ + 0, + 0.86825, + 0, + -0.49613 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.87409, + "euclidean_distance": 8.10895, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.46238, + -0.31367, + -14.4554 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_54_newN_1", + "path": [ + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501" + ], + "refined_path": [ + "0_edge_54_newN_1", + "0_edge_101_newN_0", + [ + "0_edge_54_newN_1" + ], + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:31LVTDXBL9DAIOFOCI1JW6EANX9RLE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.01675, + 6.68633, + -2.39795 + ], + "start_rotation": [ + 0, + 0.96996, + 0, + -0.24326 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.22462, + "euclidean_distance": 6.8828, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.50801, + 6.70352, + 1.96348 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "72f2dbee67884e7d9bd70158fe8e66c9", + "path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3RANCT1ZVHKQL7LTPZ7UNE5PIDOBUQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.51346, + 1.21112, + -5.05721 + ], + "start_rotation": [ + 0, + 0.97663, + 0, + 0.21493 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 2.03811, + "euclidean_distance": 1.78251, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.16692, + 0.23689, + -3.53881 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "d3e8b8227bae4a98a88d307d56b02908", + "path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1" + ], + "refined_path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3Z7VU45IP0K6U8XBTPDDYU7WZPG1Z5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.59516, + 6.68633, + -5.90405 + ], + "start_rotation": [ + 0, + 0.57469, + 0, + 0.81837 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 18.64016, + "euclidean_distance": 14.93934, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.17756, + 6.68633, + 8.41929 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "c6957ec905d04ac8acab161452470981", + "path": [ + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "4ed0dc66de83415196cb59d120b71d55", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + [ + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981" + ], + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3Y54SXRO1NOQHTFAPLYFN8BCPN4TUN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.16135, + 0.25806, + -0.31011 + ], + "start_rotation": [ + 0, + 0.60455, + 0, + 0.79657 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 14.29988, + "euclidean_distance": 8.47245, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.14468, + -0.31367, + -5.29696 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "976a7a79035a4583a10624453174d94e", + "path": [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:34Z02EIMIUGA173UREKVY1N5LWW0TV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.58664, + 4.08633, + 3.62509 + ], + "start_rotation": [ + 0, + 0.82048, + 0, + -0.57168 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 14.99741, + "euclidean_distance": 10.55699, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.70078, + 3.28633, + 5.7043 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + [ + "1bd459f9e678429b95ffbda52efa657b" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3MYYFCXHJ5ANVQZPQF8QBLYTD1EG43", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.03124, + 3.88633, + 1.78029 + ], + "start_rotation": [ + 0, + 0.85837, + 0, + -0.51304 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.60711, + "euclidean_distance": 16.60695, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.20134, + 3.48633, + -5.66805 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33CKWXB73LN9ZCC3LE4L60NKZHV11Z", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.12007, + 6.68633, + -4.81084 + ], + "start_rotation": [ + 0, + 0.99948, + 0, + -0.03228 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 7.63847, + "euclidean_distance": 5.01235, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.58153, + 6.7358, + -1.06929 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "9b0ea58d8244411592f46e0c560d8595", + "path": [ + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "refined_path": [ + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3Z7EFSHGNBH1CG7U84ECI5ACBXHCXJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.41506, + -0.31367, + -6.07403 + ], + "start_rotation": [ + 0, + 0.11055, + 0, + 0.99387 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.9482, + "euclidean_distance": 3.99878, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.30966, + 3.48633, + -5.83433 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "c51baa7dc99849c4934d01a94a268c23", + "path": [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "139cf2b84c594863a0e437a5ff3caa6e", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3G0WWMR1UXN0UN39BGSY488VAT8QN5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.24329, + 3.88633, + 1.02097 + ], + "start_rotation": [ + 0, + 0.68964, + 0, + -0.72415 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.27168, + "euclidean_distance": 16.76282, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.11965, + 3.28633, + 4.46515 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3XIQGXAUMEBV0ZCYHN612JIY7HLX7T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.13896, + 4.10343, + -5.09128 + ], + "start_rotation": [ + 0, + 0.99937, + 0, + 0.03543 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.92391, + "euclidean_distance": 8.86504, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.43528, + 3.48633, + -7.28868 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "2985a27f4c174730b22ccb0f29699f36", + "path": [ + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + [ + "90dcb8a526504454b728d3f7951f153f" + ], + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d" + ], + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6" + ], + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:39N5ACM9HGQU59Y0ATU4M2N13BF9PH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.1748, + -0.31367, + -8.64975 + ], + "start_rotation": [ + 0, + 0.554, + 0, + -0.83252 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.72376, + "euclidean_distance": 9.6299, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.03469, + -0.31367, + 0.54847 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0_edge_17_newN_0", + "path": [ + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_311_newN_1", + "0_edge_99_newN_1", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "refined_path": [ + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + [ + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + [ + "41fa201781b6448db96e6a4d4f96041e" + ], + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + [ + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177" + ], + "0_edge_311_newN_1", + [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5" + ], + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + [ + "634ddf341f6443118bea4195d06c6555" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4" + ], + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ] + }, + { + "episode_id": "A39EZ7V9T25RZO:3Y9N9SS8L0EZ1A6UOB2ZVV3Q9OID32", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.83216, + 3.28633, + 3.56632 + ], + "start_rotation": [ + 0, + 0.54777, + 0, + -0.83663 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.82493, + "euclidean_distance": 5.25782, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05798, + 3.28633, + 5.58696 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + [ + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3Q8GYXHFER5SAXNK2YVHQMJSFSA5CQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.60582, + 3.88633, + 1.03891 + ], + "start_rotation": [ + 0, + 0.76589, + 0, + -0.64298 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 16.86885, + "euclidean_distance": 13.45176, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.35012, + 3.48633, + -10.29751 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3RXPCZQMQRE63R263XPODNRPL141GX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.72253, + 3.88633, + 5.34391 + ], + "start_rotation": [ + 0, + 0.1436, + 0, + 0.98964 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.1391, + "euclidean_distance": 16.03538, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.80145, + 3.28633, + 4.02068 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3T7Y10HHQ1VLL:38JBBYETQQDPBC3YKKI2BIDH0F74E6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.52283, + 3.88633, + 3.96878 + ], + "start_rotation": [ + 0, + 0.79588, + 0, + 0.60545 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 25.80622, + "euclidean_distance": 23.89764, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.20685, + 3.43811, + 7.33439 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "5eb29212d43d436ca60e05d19215a0de", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81" + ], + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3W92K5RLWWKO96TKTFQMGE7GKVNV5M", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.22001, + 3.88633, + 2.37723 + ], + "start_rotation": [ + 0, + 0.5675, + 0, + 0.82338 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.28584, + "euclidean_distance": 6.75039, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.70855, + 3.28633, + 4.18819 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "78851de517464ff6aaced75d7850b5a8", + [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009" + ], + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:34FNN24DCOC5D0OPYQD6NDBBLKE5YV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.5271, + -0.31367, + -12.53381 + ], + "start_rotation": [ + 0, + 0.99065, + 0, + -0.1364 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 3.3896, + "euclidean_distance": 2.26158, + "closest_goal_object_id": 58, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.24774, + -0.31367, + -13.98587 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0_edge_25_newN_1", + "path": [ + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "7c2ba622b1ae4a68a8dc97c69030da06" + ], + "refined_path": [ + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1" + ], + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + [ + "d359f126c7b6433c92afc8ee3f327f59" + ], + "7c2ba622b1ae4a68a8dc97c69030da06" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:36U2A8VAG328VJ9S5DHCP2UTIADKYZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.37863, + 3.28633, + 3.53522 + ], + "start_rotation": [ + 0, + 0.23977, + 0, + -0.97083 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 21.91569, + "euclidean_distance": 12.25734, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.15699, + 0.23787, + -3.56935 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "90dcb8a526504454b728d3f7951f153f", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "1e87a0b7776d48c7a05569b182f8c3a4", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa" + ], + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + [ + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "fb7e82f5b99340eabb9a579772176b33" + ], + "1e87a0b7776d48c7a05569b182f8c3a4", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + [ + "0_edge_278_newN_0" + ], + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3ZV9H2YQQFAYAG6L567PNJSBWIZW3D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.58374, + -0.31367, + -3.75698 + ], + "start_rotation": [ + 0, + 0.90937, + 0, + 0.41598 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.27897, + "euclidean_distance": 17.69727, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.04937, + -0.31367, + -5.19244 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3QUO65DNQWRA41A2T4CGTY5OP2UUOG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.90127, + 6.68633, + 10.07738 + ], + "start_rotation": [ + 0, + 0.36101, + 0, + -0.93256 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.9945, + "euclidean_distance": 8.31054, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.47155, + 6.70163, + 1.86936 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + }, + { + "episode_id": "A3H0J7KPSIRZ7H:3F0BG9B9MRQK0428MJS3LXP79ZXY76", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.94583, + 2.98301, + -2.92564 + ], + "start_rotation": [ + 0, + 0.0909, + 0, + 0.99586 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 19.49804, + "euclidean_distance": 7.30054, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.26595, + 3.48633, + -5.84994 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "3c8b0995c325481a85ad4648931e5fde", + "path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3PMBY0YE296BBKPW5O8Y22OUOGE9CD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.88183, + -0.31367, + -0.94498 + ], + "start_rotation": [ + 0, + 0.06378, + 0, + -0.99796 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.9647, + "euclidean_distance": 11.97328, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.29853, + 3.48633, + -2.91654 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "60434c00433b4438912eebe9bd2c6984", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "60434c00433b4438912eebe9bd2c6984", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3OB0CAO74JSHTT8KZSEFCAE1NW5HYR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.1208, + -0.31367, + -2.93103 + ], + "start_rotation": [ + 0, + 0.55443, + 0, + -0.83223 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.68616, + "euclidean_distance": 2.43962, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.75576, + -0.31367, + -2.54844 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + [ + "7bb74d11234146b19b211e4b1c319cbf" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3PQ8K71NHZN1NO23DGQ7S29PQSEAAI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.84456, + 3.88633, + 0.62061 + ], + "start_rotation": [ + 0, + 0.9835, + 0, + 0.18093 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 17.50175, + "euclidean_distance": 16.40042, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.76455, + 3.28633, + 5.63986 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "0_edge_135_newN_0" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + [ + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:33NF62TLXL5I0UETJDG9FFF4OLQKJ2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.60138, + -0.31367, + -6.68459 + ], + "start_rotation": [ + 0, + 0.99762, + 0, + -0.06888 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.52004, + "euclidean_distance": 10.52611, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.71751, + -0.31367, + -14.21109 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "6811d52593b740cb9047202ce1e8a1e4", + "path": [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OCHAWUVGQNJVEJI0HVA6ONKG4OKXY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.69688, + -0.31367, + -16.78057 + ], + "start_rotation": [ + 0, + 0.83909, + 0, + 0.544 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 18.68625, + "euclidean_distance": 16.95231, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.07865, + -0.31367, + -6.69233 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "4a9d28ec80c94f1cadedb3e17667cd29", + "path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3ZPBJO59KR4EVIDT3WR1ZP4082ADHH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.04542, + 3.88633, + 4.16752 + ], + "start_rotation": [ + 0, + 0.24644, + 0, + 0.96916 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 18.83122, + "euclidean_distance": 16.86577, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.38887, + 3.48633, + -10.23722 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ] + }, + { + "episode_id": "A3D38UO96N9SB0:3DBQWDE4Y81B11KBRO4V6XD4DMQN57", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.87989, + 3.88633, + -0.68323 + ], + "start_rotation": [ + 0, + 0.29728, + 0, + 0.95479 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 22.16796, + "euclidean_distance": 15.32489, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.01192, + 3.58144, + -10.30675 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3GDTJDAPVWEO61IDDLWY52YVYOO8MT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.20476, + -0.31367, + 1.85229 + ], + "start_rotation": [ + 0, + 0.9999, + 0, + -0.01403 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 16.34354, + "euclidean_distance": 11.3179, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.1179, + -0.31367, + -5.36118 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_450_newN_1", + "path": [ + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "refined_path": [ + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3RU7GD8VPQWCAOUZJZUV3XSRVZBSPI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.54347, + -0.31367, + 1.47288 + ], + "start_rotation": [ + 0, + 0.15873, + 0, + 0.98732 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.6926, + "euclidean_distance": 7.19836, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.62829, + -0.31367, + -2.63069 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_438_newN_1", + "path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3SNVL38CI6VVSG8N9LZNSB2AFMYKCU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.84115, + -0.31367, + -4.64152 + ], + "start_rotation": [ + 0, + 0.37381, + 0, + 0.9275 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.17359, + "euclidean_distance": 6.50437, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.94481, + -0.31367, + -6.79672 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "21dca84e46e74021858b7343d8200182", + "path": [ + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0" + ], + "refined_path": [ + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3UNH76FOCU83L79VQPUS4FMX7CGMY8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.25968, + 0.08633, + -7.72316 + ], + "start_rotation": [ + 0, + 0.32346, + 0, + 0.94624 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 17.87554, + "euclidean_distance": 14.52155, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.74906, + -0.31367, + -14.28805 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_262_newN_0", + "path": [ + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ], + "refined_path": [ + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1" + ], + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8" + ] + }, + { + "episode_id": "A3RPTW3IGJHBNQ:3X0H8UUIT3R2UXR0VL8QVR0NOWFWSI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.35847, + 3.28633, + 5.24396 + ], + "start_rotation": [ + 0, + 0.95966, + 0, + -0.28117 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.85675, + "euclidean_distance": 2.77568, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.09904, + 3.41879, + 7.00023 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KAKFY4PGW5G9LMGGP3AMSJ31WH3IR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.35003, + 3.48633, + -4.3028 + ], + "start_rotation": [ + 0, + 0.14939, + 0, + 0.98878 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 13.41764, + "euclidean_distance": 3.43593, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.32395, + 3.48633, + -5.80524 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "599f73b398ef4e738aae7f557c0b35c6", + "path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3DQQ64TANIO5H5B8344W0MVC19YWPM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.88375, + -0.71367, + 4.65183 + ], + "start_rotation": [ + 0, + 0.93765, + 0, + 0.34758 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.74516, + "euclidean_distance": 8.70927, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 10.19745, + -0.31367, + 3.84745 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3L2IS5HSFCLSMGAQSPC3E95JW25NUR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.27197, + 3.48633, + -4.25205 + ], + "start_rotation": [ + 0, + 0.98853, + 0, + -0.15099 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 10.76458, + "euclidean_distance": 7.86212, + "closest_goal_object_id": 404, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.3024, + 3.61781, + -9.6524 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "599f73b398ef4e738aae7f557c0b35c6", + "path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A1IJ56N5Z4TT46:3IKZ72A5B6J33YD0X0H4S94GNMMNF3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.22099, + 6.68633, + 2.81248 + ], + "start_rotation": [ + 0, + 0.98826, + 0, + -0.15275 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.53132, + "euclidean_distance": 6.22621, + "closest_goal_object_id": 605, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.01759, + 6.68633, + -2.5859 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "c709e0508ab94b139f42d19e7f0dcb53", + "path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "refined_path": [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:34MAJL3QP6QM1EN1V016SR9K9WD43N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.98956, + 3.88633, + 1.98602 + ], + "start_rotation": [ + 0, + 0.9903, + 0, + 0.13892 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 27.57765, + "euclidean_distance": 14.92019, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.34436, + 3.48633, + -5.82541 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "81c89eb6368341109260f88eb14a527e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:32UTUBMZ7IZQYMATUPHZJ078UVEVB0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.06018, + 3.48633, + -5.47388 + ], + "start_rotation": [ + 0, + 0.80807, + 0, + -0.58909 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.55849, + "euclidean_distance": 6.73541, + "closest_goal_object_id": 412, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.47086, + 3.48633, + -7.30995 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "33a824661ad34d9391d80d87485b5356", + "path": [ + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3K3R2QNK8D67XE6WRFTYW8A0BSMU9D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.34782, + 3.48633, + -7.49196 + ], + "start_rotation": [ + 0, + 0.99925, + 0, + 0.03866 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.00101, + "euclidean_distance": 4.27074, + "closest_goal_object_id": 418, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.97645, + 3.48633, + -7.7601 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "33a824661ad34d9391d80d87485b5356", + "path": [ + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:39U1BHVTDNU6IZ2RA12E0ZLCPQD3TR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.75646, + 7.28633, + -1.0142 + ], + "start_rotation": [ + 0, + 0.98799, + 0, + 0.15453 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.02665, + "euclidean_distance": 2.33689, + "closest_goal_object_id": 498, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.12686, + 6.81723, + 1.34049 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "c130d4a1cbb642c0b7fc079969f2d6fd", + "path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0" + ], + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + [ + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3PB5A5BD0X9KEDH8SD6XEXI3RHI7G7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.00239, + 6.68633, + -5.17851 + ], + "start_rotation": [ + 0, + 0.95644, + 0, + 0.29192 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.49395, + "euclidean_distance": 2.85289, + "closest_goal_object_id": 496, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.31151, + 6.68633, + -2.84187 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "9b0ea58d8244411592f46e0c560d8595", + "path": [ + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "4ed0dc66de83415196cb59d120b71d55" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55" + ], + "refined_path": [ + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3FE2ERCCZZBXCW26CIDMJSIQY7YOP1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.33567, + 3.48633, + -0.86598 + ], + "start_rotation": [ + 0, + 0.16782, + 0, + 0.98582 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.65838, + "euclidean_distance": 6.13095, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.38617, + 3.28633, + 3.72645 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0_edge_317_newN_0", + "path": [ + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3ZWFC4W1UWAOIW5SQ7YL1T9R7UEFRT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 13.48033, + -0.27932, + -1.33668 + ], + "start_rotation": [ + 0, + 0.85699, + 0, + -0.51532 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 24.70502, + "euclidean_distance": 22.86399, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.06759, + -0.31367, + -5.21826 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:33LKR6A5KGNA8WOCNXOVC66FR0S1TE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.84469, + 3.88633, + 4.09546 + ], + "start_rotation": [ + 0, + 0.67826, + 0, + 0.73482 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.90003, + "euclidean_distance": 20.98937, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.01205, + 3.28633, + 4.44515 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507" + ], + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3HYA4D452TM7ECO7BHJK0L1JSXGF2J", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.95464, + 3.88633, + 3.06864 + ], + "start_rotation": [ + 0, + 0.9953, + 0, + -0.09683 + ], + "object_category": "table", + "info": { + "geodesic_distance": 17.97212, + "euclidean_distance": 16.56068, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.3617, + 3.28633, + 6.04532 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3DYGAII7PNB0X8FMRV5Q8XDQA85PQW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.87388, + 0.66699, + -4.34444 + ], + "start_rotation": [ + 0, + 0.08863, + 0, + 0.99606 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.98312, + "euclidean_distance": 3.74338, + "closest_goal_object_id": 109, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.94881, + -0.19177, + -2.18387 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "682b19fbab024b3ca81f62cd4d287ca7", + "path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "refined_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QJOXOW4XLU5F2S4QOIYXCUG8OIMET", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.23115, + -0.31367, + -4.6657 + ], + "start_rotation": [ + 0, + 0.4936, + 0, + -0.86969 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.07803, + "euclidean_distance": 5.67991, + "closest_goal_object_id": 131, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.6295, + -0.31367, + -6.08324 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3H7Z272LX9AP6BZ9ZQXURBEW02RPLG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.18619, + 3.88633, + 6.01472 + ], + "start_rotation": [ + 0, + 0.5156, + 0, + 0.85683 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.60279, + "euclidean_distance": 24.36813, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.18769, + 3.28633, + 4.55639 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3H7Z272LX9AP6BZ9ZQXURBEW365PL5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.54264, + 3.88633, + 4.18647 + ], + "start_rotation": [ + 0, + 0.99973, + 0, + 0.02343 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.98993, + "euclidean_distance": 20.55925, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.23182, + 3.48633, + -3.0532 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3A7Y0R2P2QROKUD0IWVY59N6I6SXJD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.37019, + 3.88633, + -0.04667 + ], + "start_rotation": [ + 0, + 0.17241, + 0, + -0.98503 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 27.97919, + "euclidean_distance": 21.07723, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.99002, + 3.579, + -10.29028 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_133_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ] + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3DI28L7YXCH8JD6FX2Z0DK6DA32E18", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.80855, + 3.46893, + -7.90638 + ], + "start_rotation": [ + 0, + 0.53459, + 0, + 0.84511 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.16623, + "euclidean_distance": 2.99261, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.09897, + 3.48633, + -8.46293 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "854eec676352475f90d1fb18677f9a8b", + "path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:317HQ483I9VNDPFQY8NPV6H9I8PIN5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.11964, + 6.68633, + -7.19993 + ], + "start_rotation": [ + 0, + 0.9426, + 0, + -0.33392 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.58049, + "euclidean_distance": 5.80319, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.89229, + 6.68633, + -1.48853 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "57180afbe3c341b18a9483752afb6f9a", + "path": [ + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ], + "refined_path": [ + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3I0BTBYZAZO6IT2O1K7U6IFK4CJY0J", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.96996, + 3.33645, + 2.11169 + ], + "start_rotation": [ + 0, + 0.92676, + 0, + 0.37565 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.68079, + "euclidean_distance": 6.92792, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.04536, + 3.28633, + 5.62943 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e908015113524e25a0fe06c0f88d6bb2", + "path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "0_edge_185_newN_1", + [ + "0_edge_185_newN_0", + "0_edge_185_newN_1" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3GU1KF0O4K4DT2DX8D80D8IRBZOPB9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.44807, + -0.31367, + 0.72701 + ], + "start_rotation": [ + 0, + 0.02716, + 0, + -0.99963 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 18.60018, + "euclidean_distance": 14.74727, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.08248, + -0.31367, + -5.16624 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "100294ee82214ab39ad802149f4f1909", + "path": [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:31EUONYN2X6AHGZ2YUMLPK78KVFOV2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.21834, + 6.68633, + -2.7221 + ], + "start_rotation": [ + 0, + 0.24008, + 0, + 0.97075 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.39193, + "euclidean_distance": 6.03781, + "closest_goal_object_id": 493, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.29219, + 6.86697, + 0.36709 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "9977d41540f44813becd1f319db571ef", + "path": [ + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1" + ], + "refined_path": [ + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3J88R45B2I1K65GYD90I259JU10XPC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.02876, + 3.28633, + 5.53801 + ], + "start_rotation": [ + 0, + 0.98596, + 0, + -0.16699 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.214, + "euclidean_distance": 2.07179, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.17026, + 3.28633, + 5.97961 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "5eb29212d43d436ca60e05d19215a0de", + "path": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KYQYYSHYXAONZZG79MRJY11H09DOB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.63516, + 0.13713, + -2.49435 + ], + "start_rotation": [ + 0, + 0.34188, + 0, + 0.93974 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 25.11499, + "euclidean_distance": 5.24051, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.32752, + 3.48633, + -5.85311 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "0_edge_135_newN_0", + "path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A16184N1RO5OJV:3KWTYT08726LD1HQFBOGT59F9ES5L0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.21783, + 0.08633, + -1.59133 + ], + "start_rotation": [ + 0, + 0.38951, + 0, + 0.92102 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 21.89241, + "euclidean_distance": 13.01892, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.69594, + 3.48633, + 8.1088 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f97419bd62f6462fbbf8fb8adc4dea29", + "path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + [ + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3S06PH7KST73R7SF17OG72OTOI41D3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 12.77372, + -0.31367, + 0.18947 + ], + "start_rotation": [ + 0, + 0.42802, + 0, + -0.90377 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.63158, + "euclidean_distance": 7.86022, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.14612, + -0.31367, + 4.48095 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "b1ce0ca7853d4889ad9313a89b8150ac", + "path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "dbef8aac0198493597e8e5aec0de17cb", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "0_edge_83_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + [ + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "dbef8aac0198493597e8e5aec0de17cb", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3YJ6NA41JDJJBLB9W5LHBW14J7APJD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.85887, + 3.88633, + 0.6409 + ], + "start_rotation": [ + 0, + 0.95372, + 0, + 0.30071 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 27.50947, + "euclidean_distance": 14.15502, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.32167, + 3.48633, + -5.80528 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZR9AIQJUDCQKMO4CDJNQTBCQCX04U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.50204, + 0.08633, + -6.77316 + ], + "start_rotation": [ + 0, + 0.43999, + 0, + 0.898 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.54338, + "euclidean_distance": 10.07855, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.19369, + -0.02475, + 0.12942 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0_edge_262_newN_1", + "path": [ + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_17_newN_0", + "0_edge_83_newN_1", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "0_edge_75_newN_1", + "241fde907a674d6ca8916fd2beec6dfc", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "0_edge_70_newN_0", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "0_edge_75_newN_1", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1" + ], + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1" + ], + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0" + ], + "0_edge_75_newN_1", + [ + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "241fde907a674d6ca8916fd2beec6dfc", + [ + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + [ + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06" + ], + "0_edge_70_newN_0", + [ + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e" + ], + "10_edge_64_newN_0", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:36AHBNMV1TF0HD3IDWVPLPZ3YXBYDN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.3991, + 3.28633, + 5.92709 + ], + "start_rotation": [ + 0, + 0.9985, + 0, + 0.05479 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 22.68644, + "euclidean_distance": 16.26468, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07647, + 3.59183, + -10.28331 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "318bfec461484262a597cc8fedffecb7", + "path": [ + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2WSBG3CWPCLYZ:3E47SOBEYSZ4MLIZ9IEBFVNXNL2ICG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.60684, + -0.31367, + -0.3229 + ], + "start_rotation": [ + 0, + 0.88951, + 0, + -0.45691 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.02733, + "euclidean_distance": 13.56917, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.07073, + -0.31367, + -5.18946 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_249_newN_0", + "path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "refined_path": [ + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3300DTYQT4KW0HQWIHPFELEMW17QEG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.50855, + 3.88633, + -0.51854 + ], + "start_rotation": [ + 0, + 0.53904, + 0, + 0.84228 + ], + "object_category": "table", + "info": { + "geodesic_distance": 13.36964, + "euclidean_distance": 12.66802, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.31553, + 3.28633, + 6.09672 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DHE4R9OCYEDSCK2M1P2I61UDFPG2G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.23609, + 3.88633, + 4.95941 + ], + "start_rotation": [ + 0, + 0.97739, + 0, + 0.21144 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 25.3433, + "euclidean_distance": 17.76572, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.0811, + 0.26896, + -3.54214 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "0_edge_75_newN_1", + "10_edge_229_newN_0", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "0_edge_76_newN_0", + "0_edge_46_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "0_edge_75_newN_1", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + [ + "d8401d8f05d84422a3543e9a1e612d11" + ], + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0" + ], + "0_edge_75_newN_1", + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_76_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_46_newN_0" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3VFJCI1K412UWW1N1R43JE93823RGF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.78629, + -0.31367, + -11.00012 + ], + "start_rotation": [ + 0, + 0.52492, + 0, + 0.85115 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.02931, + "euclidean_distance": 7.50388, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.22176, + -0.31367, + -4.22155 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "f1c591c0bc7b43b1896d6c65eaa1f561", + "path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_54_newN_1", + "0_edge_99_newN_0", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "refined_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_54_newN_1", + [ + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + [ + "634ddf341f6443118bea4195d06c6555" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + [ + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "b682278fff3c4478b2f6e2012e31fd18" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:34HJIJKLP7Z6DNPKFA7CBM130GI4VW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.47258, + 3.88633, + 5.55964 + ], + "start_rotation": [ + 0, + 0.82723, + 0, + 0.56186 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.15446, + "euclidean_distance": 19.40634, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.75394, + 3.48633, + 8.13538 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3NL0RFNU0HQSXCV8G6T59DQMK6O4KZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.09849, + 3.98779, + 1.03661 + ], + "start_rotation": [ + 0, + 0.90405, + 0, + 0.42743 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.52053, + "euclidean_distance": 12.69573, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.38362, + 3.48633, + -10.18907 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3IAS3U3I0HJH1VCR6FXOHVAYGXZB27", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.15884, + 3.88633, + 3.62323 + ], + "start_rotation": [ + 0, + 0.64816, + 0, + 0.76151 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 25.69669, + "euclidean_distance": 23.98581, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.76752, + 3.28633, + 5.62805 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3OSWBBLG1G0BH8D8809N2BSUT3WDXW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.6611, + -0.31367, + -0.2318 + ], + "start_rotation": [ + 0, + 0.95839, + 0, + 0.28545 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 15.13033, + "euclidean_distance": 5.54848, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.35463, + 3.48633, + -2.87101 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_133_newN_1", + "path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + [ + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3WR9XG3T65E42XOOXC4W58L0HR374O", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.78948, + 3.88633, + 3.06378 + ], + "start_rotation": [ + 0, + 0.58777, + 0, + 0.80903 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.01051, + "euclidean_distance": 22.13815, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.73308, + 3.48633, + 8.15635 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "c2f4ac1cd281454d80acbc4d79c12aef", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6" + ], + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + [ + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A8T1SV6XS3ES:3VNL7UK1XHM1YBIKUW3G18A9V8FFTW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.16286, + 6.68633, + 2.25603 + ], + "start_rotation": [ + 0, + 0.94421, + 0, + -0.32934 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.43427, + "euclidean_distance": 5.862, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.08772, + 6.71089, + -0.9856 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "479c8982b70a4ae5be3dcf5148b4c739", + "path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0" + ], + "refined_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + [ + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739" + ], + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091" + ], + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3NAPMVF0ZYIUZJ91TYL8CTO1GLS275", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.22436, + 3.88633, + 2.89109 + ], + "start_rotation": [ + 0, + 0.99297, + 0, + 0.1184 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 26.71657, + "euclidean_distance": 25.11939, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.71442, + 3.28633, + 5.70268 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3A1PQ49WVJKK3NXHN376YN3RGBQH1N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.77604, + 3.88633, + 2.21815 + ], + "start_rotation": [ + 0, + 0.50958, + 0, + -0.86043 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 16.85963, + "euclidean_distance": 15.66278, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.17628, + 3.43756, + 7.20327 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3K3R2QNK8D67XE6WRFTYW8A08XD9UQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.61923, + 3.09237, + -2.80133 + ], + "start_rotation": [ + 0, + 0.99857, + 0, + -0.05338 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.48929, + "euclidean_distance": 4.82698, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.03085, + -0.31367, + -5.14933 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "3c8b0995c325481a85ad4648931e5fde", + "path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde" + ], + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3XCC1ODXDNEL9LV14N9FDSD4VWWRQN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.02647, + -0.31367, + -15.5444 + ], + "start_rotation": [ + 0, + 0.39701, + 0, + 0.91781 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 17.91841, + "euclidean_distance": 15.65642, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.5947, + -0.30591, + 0.14764 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "7e8326b2742643919d565d01ff4cb501", + "path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "fb7e82f5b99340eabb9a579772176b33", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "0_edge_70_newN_0", + [ + "7c2ba622b1ae4a68a8dc97c69030da06", + "d359f126c7b6433c92afc8ee3f327f59", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "fb7e82f5b99340eabb9a579772176b33", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3TUI152ZZDQXGGWK6TU071VSUJUQ1T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.4998, + 3.88633, + 0.74843 + ], + "start_rotation": [ + 0, + 0.52375, + 0, + 0.85187 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.75863, + "euclidean_distance": 15.67527, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.32956, + 3.48633, + -2.99642 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + [ + "31510efb685f479992bae9af8104a507" + ], + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:31N2WW6R9TTWZUKQFHXPJV6AI6Y3F8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.0231, + 3.88633, + 4.27676 + ], + "start_rotation": [ + 0, + 0.77758, + 0, + 0.62878 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 12.32152, + "euclidean_distance": 11.29842, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.72285, + 3.28633, + 4.04305 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + [ + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3KWTYT08726LD1HQFBOGT59ETD65LU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.19991, + 6.68633, + -2.52765 + ], + "start_rotation": [ + 0, + 0.48614, + 0, + -0.87388 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.97381, + "euclidean_distance": 4.79107, + "closest_goal_object_id": 589, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.69078, + 6.68633, + -7.23526 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "4ed0dc66de83415196cb59d120b71d55", + "path": [ + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "refined_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3U0SRXB7CF806OI9OVHY9YI09KHRNR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.06569, + -0.31367, + 0.42649 + ], + "start_rotation": [ + 0, + 0.60137, + 0, + -0.79897 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 25.66805, + "euclidean_distance": 8.74534, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.75286, + 3.48633, + 8.17857 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "bc28e77e30a94f76aee87ac07949ecc4", + "path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3R08VXYT7EYGBZ787IAF004RYR97WS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.49149, + 3.88633, + 3.93203 + ], + "start_rotation": [ + 0, + 0.98105, + 0, + -0.19374 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 16.98277, + "euclidean_distance": 15.81314, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.19086, + 3.48633, + -2.99571 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507" + ], + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3M1CVSFP628TA49K2CNTI2OVBUWQAO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.92342, + 0.08633, + -11.71878 + ], + "start_rotation": [ + 0, + 0.71716, + 0, + -0.69691 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 20.8288, + "euclidean_distance": 11.92344, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.09684, + -0.31367, + -5.34141 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_25_newN_0", + "path": [ + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1" + ], + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QY5DC2MXTNGYOX9U1TQ64WAXAPFUJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.21961, + 3.88633, + 2.51968 + ], + "start_rotation": [ + 0, + 0.5831, + 0, + -0.8124 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 19.96176, + "euclidean_distance": 12.37374, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.11655, + 0.26453, + -3.51096 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f" + ], + "a70662f06c7d43348cf1592a80e7e183", + [ + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3VJ40NV2QKQV4OVDTZM6O2JNNCGTOC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.69189, + 3.48633, + -5.74117 + ], + "start_rotation": [ + 0, + 0.71097, + 0, + 0.70323 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.55347, + "euclidean_distance": 7.01699, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.77622, + 0.10754, + 0.22084 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "33a824661ad34d9391d80d87485b5356", + "path": [ + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6" + ], + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PPTZCWALSNUBCHSE43SZVF4K89QZH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.83635, + 6.68633, + 8.83952 + ], + "start_rotation": [ + 0, + 0.21907, + 0, + -0.97571 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 14.29637, + "euclidean_distance": 10.50886, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.949, + 6.73445, + -0.79803 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3PXX5PX6LZ166Y7VJUQ3NDTWSQ8AB4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.35426, + 4.08633, + 6.49186 + ], + "start_rotation": [ + 0, + 0.95798, + 0, + -0.28683 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 27.52047, + "euclidean_distance": 25.40165, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.05143, + 3.28633, + 5.58559 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3Z7EFSHGNBH1CG7U84ECI5ACBWDCXD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.93964, + -0.31367, + -3.10198 + ], + "start_rotation": [ + 0, + 0.99716, + 0, + 0.07526 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 26.01261, + "euclidean_distance": 11.87503, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.74388, + 3.48633, + 8.18285 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_130_newN_0", + "path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AMX5R6NLYNA2K:3JV9LGBJWVHRZJ979ZNZPJ4YUSQOGX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.54926, + 0.24952, + -2.1341 + ], + "start_rotation": [ + 0, + 0.68283, + 0, + 0.73058 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.93567, + "euclidean_distance": 12.46615, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.71178, + 3.48633, + 8.10237 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "b86b79b6a66546e58155579ef00b1e7d", + "path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "b54868e8037048d08f1208b26e887005", + "0_edge_450_newN_0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "b86b79b6a66546e58155579ef00b1e7d", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3M68NM076JASZ3CHPEVH7NWEB0KR6I", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.74055, + -0.31367, + -4.51746 + ], + "start_rotation": [ + 0, + 0.80614, + 0, + -0.59173 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.9266, + "euclidean_distance": 18.80738, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.16684, + -0.31367, + -5.31448 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2FP41BSPG0Y4A:3P1L2B7AD3S7LBN8KQKF2B96TWPOLT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.06231, + 6.68633, + 4.37306 + ], + "start_rotation": [ + 0, + 0.13092, + 0, + -0.99139 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.9615, + "euclidean_distance": 8.90784, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.0617, + 6.70524, + -1.04345 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "d547331b610244018371be43294f36c1", + "path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "refined_path": [ + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:30MVJZJNHOGYJYV2FGPKP61ODNBJ9W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.69018, + 3.28633, + 1.67569 + ], + "start_rotation": [ + 0, + 0.75189, + 0, + -0.65929 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 16.46625, + "euclidean_distance": 13.29538, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.97855, + 3.58179, + -10.19049 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_185_newN_0", + "path": [ + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:34S6N1K2ZXMXTU1LGDPPI2C5EB7HLT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.24581, + -0.31367, + -7.14072 + ], + "start_rotation": [ + 0, + 0.96619, + 0, + -0.25783 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.01639, + "euclidean_distance": 1.76138, + "closest_goal_object_id": 153, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.99848, + -0.31367, + -8.44232 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0_edge_99_newN_0", + "path": [ + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:32VNZTT0A97EKG836Q22APC0I3TR43", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.7299, + -0.31367, + 1.15121 + ], + "start_rotation": [ + 0, + 0.09206, + 0, + 0.99575 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.11452, + "euclidean_distance": 11.48795, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.23599, + 3.48633, + -2.90551 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_438_newN_1", + "path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + [ + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34QN5IT0T1UR3NB6OG9075RI86680K", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.48666, + 6.68633, + -6.71024 + ], + "start_rotation": [ + 0, + 0.91129, + 0, + 0.41176 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 19.90695, + "euclidean_distance": 15.48812, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.12848, + 6.68633, + 8.38365 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "998e746d154e4635904dbf9201ad133c", + "path": [ + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_282_newN_1", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + [ + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c" + ], + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + [ + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d" + ], + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + [ + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55" + ], + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:30OG32W0SWEBXKD42PXYARJHUUJENR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.60045, + -0.31367, + -3.68127 + ], + "start_rotation": [ + 0, + 0.79887, + 0, + -0.6015 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.73328, + "euclidean_distance": 12.42518, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.71441, + 3.48633, + 7.9895 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "68f1cface63843b6b3d72072a4a11fa8", + "path": [ + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "7bb74d11234146b19b211e4b1c319cbf", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Z7VU45IP0K6U8XBTPDDYU7WBKFZ14", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.84047, + 3.32727, + 7.62446 + ], + "start_rotation": [ + 0, + 0.86218, + 0, + -0.5066 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.76943, + "euclidean_distance": 2.66928, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.67611, + 3.28633, + 5.62296 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "16897e2c8dbd48c3a44997dad1c3801f", + "path": [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + [ + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:31Z0PCVWUMIOJI3ECD54DGXSUQZT7I", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.47752, + -0.81611, + 6.26021 + ], + "start_rotation": [ + 0, + 0.85462, + 0, + 0.51926 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 20.07017, + "euclidean_distance": 18.16813, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.57517, + -0.31367, + -2.70701 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3ON104KXQMZJSCPP5KC8XOKH62Z4WA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.25684, + 3.28633, + 6.16532 + ], + "start_rotation": [ + 0, + 0.78123, + 0, + 0.62425 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 21.60417, + "euclidean_distance": 16.58567, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.91805, + 3.57116, + -10.23241 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "4edc8197749e4379b34c663f9e370a80", + "path": [ + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2ER0EVZ7E1Z8G:3COPXFW7XDFEM5HREQLTCB1GV8IKPY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.43057, + -0.31367, + 0.84488 + ], + "start_rotation": [ + 0, + 0.70931, + 0, + 0.7049 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 23.98398, + "euclidean_distance": 21.35909, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.19528, + -0.31367, + -5.25461 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b54868e8037048d08f1208b26e887005", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + [ + "bb06442335d542cbb733939a78fcff36" + ], + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + [ + "634ddf341f6443118bea4195d06c6555" + ], + "0_edge_101_newN_0", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f" + ], + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "0_edge_325_newN_0", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3D4CH1LGECWOSW517A4HST99ZGF9GP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.33121, + 6.82452, + 0.10757 + ], + "start_rotation": [ + 0, + 0.66143, + 0, + 0.75001 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.45206, + "euclidean_distance": 7.29774, + "closest_goal_object_id": 554, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.71892, + 6.68633, + 2.26916 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0_edge_365_newN_0", + "path": [ + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "refined_path": [ + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3IHR8NYAM94T83SOTYYD5UCLD5GP4K", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.63912, + 3.48633, + -6.99352 + ], + "start_rotation": [ + 0, + 0.16211, + 0, + -0.98677 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.95888, + "euclidean_distance": 5.71684, + "closest_goal_object_id": 404, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.26146, + 3.61311, + -9.62423 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "33a824661ad34d9391d80d87485b5356", + "path": [ + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3ZPBJO59KR4EVIDT3WR1ZP4ZP2YDHK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.62222, + 6.68633, + -1.92311 + ], + "start_rotation": [ + 0, + 0.9653, + 0, + -0.26113 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 13.08837, + "euclidean_distance": 7.64834, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.01722, + 6.72941, + -0.7957 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "72f2dbee67884e7d9bd70158fe8e66c9", + "path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3II4UPYCOLAR8BCWMMEV83W1VECQD6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.89797, + 3.88633, + 0.05239 + ], + "start_rotation": [ + 0, + 0.71966, + 0, + -0.69433 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 25.53017, + "euclidean_distance": 24.30562, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.84535, + 3.28633, + 5.69325 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A272X64FOZFYLB:3IXQG4FA2V1S1FXQROC3RIIB5N2B9D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.30973, + 4.08633, + 3.62166 + ], + "start_rotation": [ + 0, + 0.70817, + 0, + -0.70604 + ], + "object_category": "table", + "info": { + "geodesic_distance": 11.84225, + "euclidean_distance": 9.00088, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.32812, + 3.28633, + 6.08495 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + [ + "1bd459f9e678429b95ffbda52efa657b" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3W2LOLRXLDIZYIX6RIPIH61WCJGKR4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.69625, + -0.31367, + 3.22927 + ], + "start_rotation": [ + 0, + 0.9766, + 0, + 0.21506 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.74907, + "euclidean_distance": 5.53939, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.13403, + -0.31367, + 2.80962 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_438_newN_0", + "path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3GA6AFUKOQRGDQBWA7LPMGIOEUE3H9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.62644, + 3.88633, + 8.09193 + ], + "start_rotation": [ + 0, + 0.10004, + 0, + -0.99498 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 28.07762, + "euclidean_distance": 19.7762, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.17054, + 0.22892, + -3.63813 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "682b19fbab024b3ca81f62cd4d287ca7" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81" + ], + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + [ + "682b19fbab024b3ca81f62cd4d287ca7" + ] + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3VP0C6EFSIZ12NZPK6Z0LO2481S6MV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.24911, + -0.31367, + -10.81375 + ], + "start_rotation": [ + 0, + 0.93577, + 0, + -0.3526 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.20074, + "euclidean_distance": 8.02308, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.9317, + -0.31367, + -6.29942 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0_edge_83_newN_0", + "path": [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1" + ], + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3Z7EFSHGNBH1CG7U84ECI5ACBR6CXW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.09558, + 3.28633, + 5.18752 + ], + "start_rotation": [ + 0, + 0.91988, + 0, + -0.3922 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.27891, + "euclidean_distance": 4.85287, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.62556, + 3.28633, + 5.62591 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "5f04c594ab574a4b9f4535abdfab07e0", + "path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0" + ], + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3G2UL9A02FHIHKS2G0XB265EAPC67M", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.22294, + 6.68633, + -7.79155 + ], + "start_rotation": [ + 0, + 0.22027, + 0, + 0.97544 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 22.69781, + "euclidean_distance": 16.33645, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.20068, + 6.68633, + 8.47361 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "7f2859e1af57442ea602142e8fc3ebe0", + "path": [ + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "2e532d8410fd4761b8166eedc0470347", + "0_edge_314_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + [ + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "0_edge_314_newN_0", + [ + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:32XVDSJFP10DKMGOX4NXVBLSS1ZM2D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.57563, + 6.84542, + -3.04007 + ], + "start_rotation": [ + 0, + 0.78913, + 0, + -0.61422 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 14.04824, + "euclidean_distance": 10.83261, + "closest_goal_object_id": 528, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.56337, + 6.68633, + 6.91456 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "40bd5db3c01e445d903b58f86beaf72a", + "path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "998e746d154e4635904dbf9201ad133c", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d" + ], + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + [ + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0" + ], + "998e746d154e4635904dbf9201ad133c", + [ + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:35DR22AR5FNDZGBBFB3BP26I5FF3XD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.06908, + 3.28633, + 2.54847 + ], + "start_rotation": [ + 0, + 0.94844, + 0, + 0.31695 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.08531, + "euclidean_distance": 6.61394, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.7291, + 3.28633, + 5.67814 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "139cf2b84c594863a0e437a5ff3caa6e", + "path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:30JNVC0ORBN8KRHY8IXLZOBYASHHQB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.96049, + -0.31367, + -14.21173 + ], + "start_rotation": [ + 0, + 0.92398, + 0, + -0.38244 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.12314, + "euclidean_distance": 10.3086, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.20311, + -0.31367, + -4.22467 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "2541575c89e8441da0419900ff2388dd", + "path": [ + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "refined_path": [ + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3PPTZCWALSNUBCHSE43SZVF4N6VQZ2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.67183, + 3.28633, + 4.75354 + ], + "start_rotation": [ + 0, + 0.78236, + 0, + -0.62282 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.66978, + "euclidean_distance": 2.53035, + "closest_goal_object_id": 332, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.72075, + 3.28633, + 6.5284 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "5eb29212d43d436ca60e05d19215a0de", + "path": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ], + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:324G5B4FB5BN396NEBHUT5VMJOU70E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.90141, + -0.31367, + -15.03394 + ], + "start_rotation": [ + 0, + 0.99098, + 0, + -0.13399 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.0773, + "euclidean_distance": 15.48209, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.74366, + -0.31367, + -6.27034 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0_edge_112_newN_0", + "path": [ + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3M0NZ3JDP315IQYUUCFP1KKDOIB5ZK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.58616, + -0.31367, + 2.20223 + ], + "start_rotation": [ + 0, + 0.99972, + 0, + 0.02353 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.41821, + "euclidean_distance": 7.6787, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.73711, + -0.31367, + -2.54478 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_438_newN_0", + "path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0" + ], + "refined_path": [ + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:39JEC7537W498R2Z8PDUUKDRSTGCVY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.42135, + 6.68633, + 6.55387 + ], + "start_rotation": [ + 0, + 0.1195, + 0, + 0.99283 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.92801, + "euclidean_distance": 13.87882, + "closest_goal_object_id": 589, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.62248, + 6.68633, + -7.32999 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "62ceda9ff3dd4e0f9b63f3b70691d705", + "path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "3103ac3f8af84b21baa815a539ef2d1f", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "3103ac3f8af84b21baa815a539ef2d1f", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "refined_path": [ + "62ceda9ff3dd4e0f9b63f3b70691d705", + "0_edge_258_newN_1", + "3103ac3f8af84b21baa815a539ef2d1f", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:39GHHAVOMHUXMSPQYLTT8YQ946IJ4M", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.845, + 6.68633, + -7.17055 + ], + "start_rotation": [ + 0, + 0.13031, + 0, + 0.99147 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.69286, + "euclidean_distance": 5.51235, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.66181, + 6.68633, + -1.69817 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "0_edge_314_newN_0", + "path": [ + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "refined_path": [ + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X3OR7WPZ1340J0SD9VJ5PJ6EWRL83", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.62378, + 0.11331, + 0.87198 + ], + "start_rotation": [ + 0, + 0.14452, + 0, + 0.9895 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.52302, + "euclidean_distance": 5.17811, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.23901, + 3.48633, + -3.02326 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_238_newN_0", + "path": [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "8a12480e7006496ca01c288e8b90e471", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4" + ], + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3PQ8K71NHZN1NO23DGQ7S29PTQRAAU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.55964, + 3.88633, + 4.68109 + ], + "start_rotation": [ + 0, + 0.25442, + 0, + -0.9671 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.70394, + "euclidean_distance": 23.69854, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.99317, + 3.28633, + 4.52147 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3NG53N1RLXMUR4FQ51OQM6SP2DCP8K", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.07606, + 6.68633, + 0.53219 + ], + "start_rotation": [ + 0, + 0.94383, + 0, + -0.33043 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.77207, + "euclidean_distance": 1.93262, + "closest_goal_object_id": 612, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.90216, + 6.68633, + -1.43994 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "890c5356b4da4a418e223fc9e366bf89", + "path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "5e7ad15a2bbd4a55a95560ee0121c222" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "5e7ad15a2bbd4a55a95560ee0121c222" + ], + "refined_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + [ + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "5e7ad15a2bbd4a55a95560ee0121c222" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JZQSN0I3SDXT6WEAW492PVK2RQGFU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.44619, + 3.45569, + -0.33899 + ], + "start_rotation": [ + 0, + 0.41672, + 0, + -0.90903 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.66861, + "euclidean_distance": 9.93172, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.71055, + 3.48633, + 7.97451 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "001d8a657cbd41e7bf5a538e5768b058", + "path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3ZAZR5XV03LQHB799M2XFQQNJRJZCV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -28.31538, + 4.40408, + 8.08579 + ], + "start_rotation": [ + 0, + 0.6672, + 0, + 0.74487 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.35163, + "euclidean_distance": 26.88379, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.75926, + 3.28633, + 4.05196 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WI0P0II63VRKCRWZ13VDT65CF6RDD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.38319, + 3.88633, + 1.39147 + ], + "start_rotation": [ + 0, + 0.99977, + 0, + 0.02152 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 23.4825, + "euclidean_distance": 22.22588, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.17675, + 3.43649, + 7.22773 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3DI28L7YXCH8JD6FX2Z0DK6EBF1E1Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 17.16307, + -0.69548, + 0.82701 + ], + "start_rotation": [ + 0, + 0.33393, + 0, + 0.9426 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 28.96285, + "euclidean_distance": 27.07433, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.96315, + -0.22001, + -6.21968 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "b47347c7d04e40d084f4f3715e166330", + "path": [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + [ + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea" + ], + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + [ + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3WOKGM4L73JUOFYMVXYW4RHIMO20OW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 15.93068, + -0.20582, + -5.51562 + ], + "start_rotation": [ + 0, + 0.13146, + 0, + 0.99132 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 1.47944, + "euclidean_distance": 1.47944, + "closest_goal_object_id": 1, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 17.37932, + -0.52297, + -5.64775 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "b682278fff3c4478b2f6e2012e31fd18", + "path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:336YQZE83XH5JJZBFNPVTIO3VPHM5E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.78825, + 4.08633, + 6.70944 + ], + "start_rotation": [ + 0, + 0.99585, + 0, + 0.09102 + ], + "object_category": "table", + "info": { + "geodesic_distance": 27.30527, + "euclidean_distance": 25.14273, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.34368, + 3.28633, + 6.10907 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3IUZPWIU1QA46EESQCZO459DRR6WK3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.90337, + 6.68633, + 6.68293 + ], + "start_rotation": [ + 0, + 0.86443, + 0, + -0.50275 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.24954, + "euclidean_distance": 5.16113, + "closest_goal_object_id": 498, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.60095, + 6.68633, + 2.91789 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ee4d521f9b174894b7b595e1b56ee901", + "path": [ + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "c66a3e6ef48143f5a86d202e62515386", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ], + "refined_path": [ + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3L4PIM1GQVJUINMNVXQ9QEG6UZPYRX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.77102, + 6.68633, + 2.25634 + ], + "start_rotation": [ + 0, + 0.6338, + 0, + -0.7735 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.0178, + "euclidean_distance": 6.49933, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.9305, + 6.75322, + -0.68423 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "23529d8037d541ccbcccc986d779f269", + "path": [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_146_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be" + ], + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_146_newN_0", + [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3VE8AYVF8O0I0RQWRYSLACEL0FI8F9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.99823, + 3.46917, + 1.29129 + ], + "start_rotation": [ + 0, + 0.94524, + 0, + -0.32637 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.31405, + "euclidean_distance": 7.89662, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.25444, + 3.28633, + 6.0473 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "e908015113524e25a0fe06c0f88d6bb2", + "path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3B3WTRP3DD5YD2XU8VJSQPF793D29W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.94604, + -0.31367, + 1.36719 + ], + "start_rotation": [ + 0, + 0.98453, + 0, + 0.17522 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.54464, + "euclidean_distance": 18.53517, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.86785, + -0.29534, + -6.07907 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_438_newN_1", + "path": [ + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "8a12480e7006496ca01c288e8b90e471", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_130_newN_1", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1" + ], + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4" + ], + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + [ + "dbef8aac0198493597e8e5aec0de17cb" + ], + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3R3YRB5GRH6L2XG1JL7YS3LKEE1AUA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.72593, + -0.31367, + -9.6866 + ], + "start_rotation": [ + 0, + 0.19323, + 0, + 0.98115 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 12.29968, + "euclidean_distance": 11.57647, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.17667, + -0.31367, + -5.62574 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "0_edge_79_newN_0", + "path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3ZQIG0FLQGJIMP84PGDV6EKT4SXVW9", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.22698, + 3.88633, + -0.60276 + ], + "start_rotation": [ + 0, + 0.39479, + 0, + -0.91877 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 18.95954, + "euclidean_distance": 13.15286, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.39607, + 3.48633, + -10.15425 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3ERMJ6L4D0VK6NDU3G4SR220Z28M7I", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.05096, + -0.31367, + -3.6943 + ], + "start_rotation": [ + 0, + 0.97889, + 0, + -0.20438 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.83659, + "euclidean_distance": 3.61859, + "closest_goal_object_id": 111, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.77279, + -0.31367, + -2.12666 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WR9XG3T65E42XOOXC4W58L0HQB47R", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.73267, + -0.31367, + -0.50754 + ], + "start_rotation": [ + 0, + 0.84426, + 0, + -0.53594 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.91336, + "euclidean_distance": 9.64169, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.78238, + 3.48633, + 8.15069 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_133_newN_1", + "path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3F6KKYWMND465EZ46UME491WRL8DNQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.2076, + 3.48633, + 2.59071 + ], + "start_rotation": [ + 0, + 0.28121, + 0, + 0.95965 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.94193, + "euclidean_distance": 7.82832, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.92487, + 3.28633, + 5.65964 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e908015113524e25a0fe06c0f88d6bb2", + "path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A5WWHKD82I8UE:38F5OAUN5PFYE9CJCJOFZXU4MUX7HE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.43346, + 4.05747, + 4.09902 + ], + "start_rotation": [ + 0, + 0.94995, + 0, + 0.31241 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.41257, + "euclidean_distance": 11.06711, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.1252, + 3.42698, + 7.18529 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + [ + "5a17727c63bb4c64bd10875f8d652009" + ], + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3S4AW7T80DL3HIDQ1656OD30T6ML4U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.02647, + -0.31367, + -15.5444 + ], + "start_rotation": [ + 0, + 0.39701, + 0, + 0.91781 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 17.91841, + "euclidean_distance": 15.65642, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.5947, + -0.30591, + 0.14764 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "7e8326b2742643919d565d01ff4cb501", + "path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_15_newN_1", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_46_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_341_newN_0", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_15_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1" + ], + "0_edge_25_newN_0", + [ + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0" + ], + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + [ + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63" + ], + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "d359f126c7b6433c92afc8ee3f327f59", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "0_edge_112_newN_0", + [ + "41fa201781b6448db96e6a4d4f96041e" + ], + "10_edge_64_newN_0", + "0_edge_311_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_15_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_46_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + [ + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0" + ], + "0_edge_341_newN_0", + [ + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "ce23b2b514f449a0b334dc15146fc14f", + "50ffb35ba8654fd1a6a3cbdd4e5a29b7", + [ + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + [ + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:35GCEFQ6I7R24BBQGTRWMNMTDIJ3ZM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.46861, + 0.2309, + 6.63398 + ], + "start_rotation": [ + 0, + 0.07113, + 0, + -0.99747 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.63256, + "euclidean_distance": 9.09872, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.32438, + -0.2759, + -2.28816 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "e5fc4a655a7a451eaec61f1dcaf902de", + "path": [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512" + ], + "b31ae8536d72434ea33243b17fc0dee0", + [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3LRLIPTPESC7Z1BPP73WMGCMFLXAK6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.64304, + 3.88633, + 2.76953 + ], + "start_rotation": [ + 0, + 0.89556, + 0, + -0.44495 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.91628, + "euclidean_distance": 20.20395, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.18946, + 3.48633, + -2.87631 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NL0RFNU0HQSXCV8G6T59DQMN8P4K7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.63494, + 3.88633, + 0.81962 + ], + "start_rotation": [ + 0, + 0.24963, + 0, + 0.96834 + ], + "object_category": "table", + "info": { + "geodesic_distance": 11.90716, + "euclidean_distance": 11.25271, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.19935, + 3.28633, + 6.06691 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3HRMW88U18T6OCDAIHJJCNSDS76M0P", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.15432, + -0.31367, + 2.34988 + ], + "start_rotation": [ + 0, + 0.84442, + 0, + -0.53569 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 22.67185, + "euclidean_distance": 14.02549, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.81029, + -0.23021, + -6.18986 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_46_newN_0", + "path": [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + [ + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + [ + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A3PFU4042GIQLE:33ISQZVXPRPD9IWZH8IP4SP1RM2CCJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.81914, + 3.88633, + 3.81334 + ], + "start_rotation": [ + 0, + 0.99986, + 0, + -0.01663 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 14.36097, + "euclidean_distance": 13.40278, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.23941, + 3.48633, + -2.95418 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3OLQQLKKNUSFEUMJNR56HK20I5QJER", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.6906, + -0.31367, + 4.36721 + ], + "start_rotation": [ + 0, + 0.19292, + 0, + 0.98122 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.334, + "euclidean_distance": 2.19704, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.18275, + -0.31367, + 2.90941 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "09e4e508dfb542bb86651bf77d36a64e", + "path": [ + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "refined_path": [ + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3GM6G9ZBKP074LA1GJ7TWYUISD7TM5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.41508, + -0.31367, + -16.49177 + ], + "start_rotation": [ + 0, + 0.90559, + 0, + 0.42416 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 3.89041, + "euclidean_distance": 3.26998, + "closest_goal_object_id": 58, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.27756, + -0.31367, + -13.88025 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "7e8326b2742643919d565d01ff4cb501", + "path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794" + ], + "refined_path": [ + "7e8326b2742643919d565d01ff4cb501", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_25_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + [ + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63" + ], + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3DI28L7YXCH8JD6FX2Z0DK6ERS01EQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.96052, + -0.31367, + -1.8809 + ], + "start_rotation": [ + 0, + 0.21917, + 0, + 0.97569 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.35227, + "euclidean_distance": 8.41369, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.22988, + -0.31367, + 2.97333 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "0_edge_88_newN_1", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0_edge_444_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_444_newN_1", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330" + ], + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2" + ], + "0_edge_88_newN_1", + [ + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a" + ], + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a" + ], + "0_edge_444_newN_1", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36" + ], + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3D8YOU6S9GNKFV4YT8QMCYJYIPW6UP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.49941, + 3.88633, + 5.35659 + ], + "start_rotation": [ + 0, + 0.66191, + 0, + 0.74958 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.73297, + "euclidean_distance": 25.64984, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.11988, + 3.28633, + 4.51422 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "AMYURTQIMAC8T:3TY7ZAOG5HNBYOD7X563XA093UJK0A", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.45395, + -0.7693, + 5.54952 + ], + "start_rotation": [ + 0, + 0.97955, + 0, + -0.20121 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.82388, + "euclidean_distance": 10.24361, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.43367, + -0.31367, + 4.5108 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_88_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "0_edge_88_newN_1", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0_edge_444_newN_1", + "0_edge_122_newN_0", + "0_edge_385_newN_1", + "0_edge_88_newN_0", + "0_edge_384_newN_0", + "0_edge_359_newN_1", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_444_newN_1", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_385_newN_1", + "0_edge_88_newN_0", + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_384_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0_edge_359_newN_1", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2" + ], + "0_edge_88_newN_1", + [ + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a" + ], + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a" + ], + "b47347c7d04e40d084f4f3715e166330", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a" + ], + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a" + ], + "0_edge_444_newN_1", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330" + ], + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059" + ], + "0_edge_385_newN_1", + "0_edge_88_newN_0", + [ + "0_edge_88_newN_1", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059" + ], + "0_edge_384_newN_0", + [ + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0" + ], + "0_edge_359_newN_1", + [ + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0" + ], + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3GNCZX450KQ8AS852Z84IXYL6PMAPB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.98631, + -0.31367, + -15.57123 + ], + "start_rotation": [ + 0, + 0.82704, + 0, + 0.56214 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.57768, + "euclidean_distance": 15.85926, + "closest_goal_object_id": 200, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -7.77305, + -0.31367, + -6.46505 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "32e645590a554d8694a69851854a1c10", + "path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3L6L49WXW20PFTA59JPZ7O7393S548", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.95752, + 6.68633, + 0.43139 + ], + "start_rotation": [ + 0, + 0.94513, + 0, + 0.3267 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.58668, + "euclidean_distance": 3.93499, + "closest_goal_object_id": 594, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.33686, + 6.68633, + -3.49935 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "890c5356b4da4a418e223fc9e366bf89", + "path": [ + "890c5356b4da4a418e223fc9e366bf89", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "479c8982b70a4ae5be3dcf5148b4c739", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "890c5356b4da4a418e223fc9e366bf89", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "2142035ff0ff419f81fed8875fccf577", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "890c5356b4da4a418e223fc9e366bf89", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "479c8982b70a4ae5be3dcf5148b4c739", + [ + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "890c5356b4da4a418e223fc9e366bf89", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "2142035ff0ff419f81fed8875fccf577", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "890c5356b4da4a418e223fc9e366bf89" + ], + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34Z02EIMIUGA173UREKVY1N5MI2T03", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.84546, + 3.88633, + 4.81105 + ], + "start_rotation": [ + 0, + 0.63602, + 0, + 0.77168 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.67116, + "euclidean_distance": 14.00759, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.65386, + 3.48633, + 8.06335 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3WQ3B2KGEAJACAUVNBXACC0TORPB1U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.6171, + -0.74069, + -3.87994 + ], + "start_rotation": [ + 0, + 0.61525, + 0, + -0.78833 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.36089, + "euclidean_distance": 4.12132, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 20.82941, + -0.91367, + -0.08631 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "b682278fff3c4478b2f6e2012e31fd18", + "path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "0_edge_46_newN_0", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ], + "refined_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1" + ], + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + [ + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_46_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_76_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3X73LLYYQ3HNHU46SQ54VUGT30FNHF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.36564, + 0.10578, + 5.50125 + ], + "start_rotation": [ + 0, + 0.90545, + 0, + 0.42446 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.66787, + "euclidean_distance": 4.1751, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.06967, + -0.31367, + 2.14214 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_441_newN_1", + "path": [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "refined_path": [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:34X6J5FLPV14BXCOWI06B1RE1ZCJQJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.20853, + 3.48633, + 1.53252 + ], + "start_rotation": [ + 0, + 0.50399, + 0, + -0.86371 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.79293, + "euclidean_distance": 10.78917, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.84855, + 3.28633, + 5.76215 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3G3TIX6FEMN8R:32SVAV9L3HC1333I41BX5UVK10UA3D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.53358, + 0.20008, + 6.94091 + ], + "start_rotation": [ + 0, + 0.34417, + 0, + -0.93891 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.90145, + "euclidean_distance": 9.4096, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.27774, + -0.28265, + -2.36116 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "e5fc4a655a7a451eaec61f1dcaf902de", + "path": [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512" + ], + "b31ae8536d72434ea33243b17fc0dee0", + [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A3F90N8YVKJ4I7:3WSELTNVR5562K1CJGHON7ZIYW1ATL", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.22036, + 3.3835, + 9.32872 + ], + "start_rotation": [ + 0, + 0.03753, + 0, + -0.9993 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.91938, + "euclidean_distance": 3.79315, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.14695, + 3.28633, + 6.01255 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "81c89eb6368341109260f88eb14a527e", + "path": [ + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:33CUSNVVNPF9LCG9JKMF0KXZB7V888", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.71098, + 3.28633, + 0.61637 + ], + "start_rotation": [ + 0, + 0.33282, + 0, + -0.94299 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 24.0092, + "euclidean_distance": 8.68209, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.08508, + -0.31367, + -5.14749 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_185_newN_1", + "path": [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "cc6552274d7e482cbd3bf904d5754203", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d" + ], + "cc6552274d7e482cbd3bf904d5754203", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3483FV8BEGMBVJVWAOGG6FO6Z9W268", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.00218, + -0.31367, + 0.59594 + ], + "start_rotation": [ + 0, + 0.29896, + 0, + 0.95427 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 25.11294, + "euclidean_distance": 8.86916, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.77718, + 3.48633, + 8.18058 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "ee34e33014c94bf79cda5892e2ec6b24", + "path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3LEP4MGT3I3445A734H5DE11UOADBJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.69351, + -0.31367, + 9.55241 + ], + "start_rotation": [ + 0, + 0.89715, + 0, + -0.44173 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 11.40603, + "euclidean_distance": 10.23186, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.84365, + 0.15353, + 0.9404 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3FDJT1UU76BATVZ8UBCFE5WZ6JK5KO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.79404, + 6.86771, + -0.00798 + ], + "start_rotation": [ + 0, + 0.78163, + 0, + -0.62375 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.18274, + "euclidean_distance": 6.81993, + "closest_goal_object_id": 554, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.77325, + 6.68633, + 2.15329 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0_edge_365_newN_0", + "path": [ + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ], + "refined_path": [ + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3U0SRXB7CF806OI9OVHY9YI06RLRN6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.23001, + 3.88633, + 3.73438 + ], + "start_rotation": [ + 0, + 0.99546, + 0, + 0.09516 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.61353, + "euclidean_distance": 14.66651, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.65025, + 3.48633, + 8.08862 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + [ + "eb2eb655963a4be08e11d984c87586bd" + ], + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3FE7TXL1LKQ451EGPXUECK5WJA72QM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.29689, + -0.05475, + -0.53315 + ], + "start_rotation": [ + 0, + 0.2859, + 0, + 0.95826 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 23.39914, + "euclidean_distance": 10.19082, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.76367, + 3.48633, + 8.17989 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "976a7a79035a4583a10624453174d94e", + "path": [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3SNVL38CI6VVSG8N9LZNSB2AB87CKZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.74222, + 3.88633, + -0.80408 + ], + "start_rotation": [ + 0, + 0.88972, + 0, + -0.45651 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 24.69645, + "euclidean_distance": 17.57582, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.95476, + 3.57709, + -10.21854 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3CPLWGV3MQ2U2OMNUEHCIDI60T79N5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -21.87951, + 3.88633, + 5.03816 + ], + "start_rotation": [ + 0, + 0.56591, + 0, + -0.82447 + ], + "object_category": "table", + "info": { + "geodesic_distance": 25.07304, + "euclidean_distance": 23.2395, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.17478, + 3.28633, + 6.08785 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3PDJHANYK7JFA9YET9JNTJU8B89H6J", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.10411, + -0.31367, + -1.50478 + ], + "start_rotation": [ + 0, + 0.81909, + 0, + 0.57366 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.0876, + "euclidean_distance": 16.57629, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.18152, + -0.31367, + -5.16909 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "fd22cb9d82364bbdb6ea4fdb051a7721", + "path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3X0H8UUIT3R2UXR0VL8QVR0NOSNSWE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.85651, + 3.48633, + -7.51357 + ], + "start_rotation": [ + 0, + 0.75025, + 0, + 0.66116 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.07161, + "euclidean_distance": 5.63711, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07173, + 3.59209, + -10.26213 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "33a824661ad34d9391d80d87485b5356", + "path": [ + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3WJEQKOXAA55T0P3HXXEH1GMN9B1AB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.70187, + -0.31367, + -6.83499 + ], + "start_rotation": [ + 0, + 0.90175, + 0, + 0.43227 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.23342, + "euclidean_distance": 2.01599, + "closest_goal_object_id": 159, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.17463, + -0.31367, + -8.81304 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0_edge_99_newN_0", + "path": [ + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0" + ], + "refined_path": [ + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + [ + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3L0KT67Y8GJ6J2M0AMQEGOL3Z30SYW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.32402, + 3.28633, + 2.72306 + ], + "start_rotation": [ + 0, + 0.76977, + 0, + -0.63832 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.53353, + "euclidean_distance": 4.91529, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.25595, + 3.28633, + 6.08364 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "c66e1c0bbb6a4418bd97da9967ec435d", + "path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1PAY3X73PQ16S:3018Q3ZVOKTTM5OKFRCTNSY0ACXAR3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.91904, + -0.31367, + -1.10149 + ], + "start_rotation": [ + 0, + 0.192, + 0, + 0.98139 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 23.00354, + "euclidean_distance": 11.98219, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.37607, + 3.48633, + -2.87861 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3I3WADAZ9S7TJMKNS348LMD976GO5W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 20.15493, + -0.83622, + -2.9596 + ], + "start_rotation": [ + 0, + 0.94547, + 0, + 0.3257 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.33632, + "euclidean_distance": 3.08135, + "closest_goal_object_id": 19, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 20.91599, + -0.91367, + 0.11981 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "b682278fff3c4478b2f6e2012e31fd18", + "path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909" + ], + "refined_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3E13VNJ1NPYKZI81TLPRYZ46JMNI1Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.03535, + 3.28633, + 1.64631 + ], + "start_rotation": [ + 0, + 0.9872, + 0, + 0.15946 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 19.40137, + "euclidean_distance": 8.29942, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.23039, + 3.48633, + -5.84146 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "0_edge_185_newN_0", + "path": [ + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3NVC2EB65S22ZL1LK7PD8GDQQ3Q3YH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.84732, + 3.389, + -0.12832 + ], + "start_rotation": [ + 0, + 0.41663, + 0, + -0.90907 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.36866, + "euclidean_distance": 7.42544, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.24713, + 3.28633, + 6.06875 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "001d8a657cbd41e7bf5a538e5768b058", + "path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3A1COHJ8NLY2ENH2MOGLDXQZUMF8HR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.74039, + -0.31367, + 7.27549 + ], + "start_rotation": [ + 0, + 0.51993, + 0, + -0.85421 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.28792, + "euclidean_distance": 12.05384, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.29392, + 3.48633, + -2.87765 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "dbef8aac0198493597e8e5aec0de17cb", + "path": [ + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3MTMREQS4XLYU156ELMZAR6HZZZWAS", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.69676, + 3.88633, + 0.10331 + ], + "start_rotation": [ + 0, + 0.88046, + 0, + -0.47411 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.07703, + "euclidean_distance": 21.04702, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.69752, + 3.48633, + 8.21475 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31LM9EDVONVJ80ZWGQ8P77W9W3FNJK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.63189, + 3.79784, + 2.56497 + ], + "start_rotation": [ + 0, + 0.97961, + 0, + 0.20091 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.74063, + "euclidean_distance": 10.75677, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07498, + 3.41416, + 7.21804 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3F0BG9B9MRQK0428MJS3LXP6VAOY73", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.02472, + 4.08633, + 7.47357 + ], + "start_rotation": [ + 0, + 0.26439, + 0, + 0.96442 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 29.69425, + "euclidean_distance": 22.26068, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.1691, + 0.23571, + -3.54604 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3P1L2B7AD3S7LBN8KQKF2B95CLALO6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.31021, + 3.88633, + 0.94614 + ], + "start_rotation": [ + 0, + 0.63494, + 0, + 0.77256 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 25.00643, + "euclidean_distance": 16.28428, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.06635, + 0.2806, + -3.50891 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_83_newN_1", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "fb7e82f5b99340eabb9a579772176b33", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1" + ], + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + [ + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "fb7e82f5b99340eabb9a579772176b33", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QY7M81QH9PPGZDRI4RCCPAWYZXK7N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.36103, + 0.08633, + -1.52163 + ], + "start_rotation": [ + 0, + 0.97903, + 0, + 0.20373 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 13.60842, + "euclidean_distance": 6.28621, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.31969, + 3.48633, + -2.96013 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "3b67353ba5e64feeb33884037fa14ce6", + "path": [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6" + ], + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3P1L2B7AD3S7LBN8KQKF2B96QY0LO2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.92945, + -0.31367, + 0.26086 + ], + "start_rotation": [ + 0, + 0.80053, + 0, + 0.59929 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.60569, + "euclidean_distance": 6.66754, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.85834, + -0.31367, + 6.93559 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_249_newN_0", + "path": [ + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + "2541575c89e8441da0419900ff2388dd" + ], + "refined_path": [ + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + [ + "2541575c89e8441da0419900ff2388dd" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3TUI152ZZDQXGGWK6TU071VSUJ8Q17", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.40917, + 6.69453, + -1.37983 + ], + "start_rotation": [ + 0, + 0.9894, + 0, + 0.14525 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.02938, + "euclidean_distance": 7.90787, + "closest_goal_object_id": 598, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.19616, + 6.68633, + -7.27676 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "152355d224574b17b3be41aa6edf2b41", + "path": [ + "152355d224574b17b3be41aa6edf2b41", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "152355d224574b17b3be41aa6edf2b41", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "152355d224574b17b3be41aa6edf2b41", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f" + ], + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3ZGVPD4G6VK73S9KV8XN40QQO99ZTB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.12292, + -0.9018, + 6.78019 + ], + "start_rotation": [ + 0, + 0.62861, + 0, + 0.77772 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.88906, + "euclidean_distance": 9.36306, + "closest_goal_object_id": 22, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 10.15909, + -0.31367, + 4.00885 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + [ + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "d12a35cb161641318a92f9e5dd8915db", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db" + ], + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3VELCLL3GMM0PR6BSDJ6V2RDKPN1FN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.66642, + 3.88633, + 3.31277 + ], + "start_rotation": [ + 0, + 0.88083, + 0, + 0.47344 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 23.76412, + "euclidean_distance": 22.12608, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.35513, + 3.28633, + 5.70364 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f48b2bf8bcc64c3ca36d4190669f333a", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + [ + "31510efb685f479992bae9af8104a507" + ], + "f48b2bf8bcc64c3ca36d4190669f333a", + [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8" + ], + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "AM7FYVGVOEP66:3MH9DQ757YFMCOT45LZ8OPWNF2UUGB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.56795, + 0.08633, + -11.89762 + ], + "start_rotation": [ + 0, + 0.86609, + 0, + 0.49988 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.82737, + "euclidean_distance": 7.97531, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.24921, + -0.31367, + -4.09687 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_25_newN_0", + "path": [ + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1" + ], + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3U84XHCDIEGNM7UUG7WFWSEZOL14ZX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.7644, + 6.68633, + -5.66849 + ], + "start_rotation": [ + 0, + 0.92629, + 0, + -0.3768 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.87426, + "euclidean_distance": 3.5959, + "closest_goal_object_id": 500, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.86561, + 6.68633, + -2.13946 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "c6957ec905d04ac8acab161452470981", + "path": [ + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "refined_path": [ + "c6957ec905d04ac8acab161452470981", + "57180afbe3c341b18a9483752afb6f9a", + "998e746d154e4635904dbf9201ad133c", + [ + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981" + ], + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3LOTDFNYA92TQSMEP18ROSH8VS6FW7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.71224, + 6.68633, + -3.14931 + ], + "start_rotation": [ + 0, + 0.99775, + 0, + 0.06711 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.5267, + "euclidean_distance": 7.98657, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.98375, + 6.7186, + -0.90653 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "72f2dbee67884e7d9bd70158fe8e66c9", + "path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "refined_path": [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + [ + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TOK3KHVJVL86QY6GWJ5J6R5YDF7O0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.3636, + 3.88633, + 2.10848 + ], + "start_rotation": [ + 0, + 0.076, + 0, + -0.99711 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 26.41322, + "euclidean_distance": 24.95407, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.24153, + 3.28633, + 5.57745 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3BV8HQ2ZZY400MQ0N39VCX73X4C6A5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.88999, + 3.88633, + 0.67898 + ], + "start_rotation": [ + 0, + 0.39349, + 0, + 0.91933 + ], + "object_category": "table", + "info": { + "geodesic_distance": 15.03676, + "euclidean_distance": 14.26827, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.33949, + 3.28633, + 6.08114 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + [ + "eb2eb655963a4be08e11d984c87586bd" + ], + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3X66WABAJYL2DUGLQ1371G6NZPRG33", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.25158, + 4.04266, + -0.03703 + ], + "start_rotation": [ + 0, + 0.47508, + 0, + 0.87994 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.32742, + "euclidean_distance": 15.68832, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.26286, + 3.28633, + 5.66585 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "APRZ7BR8C0ZMQ:3FPRZHYEP0ALVR6GFW2T1H9XLTU3V7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.45097, + -0.31367, + -3.12231 + ], + "start_rotation": [ + 0, + 1, + 0, + -0.00174 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.93244, + "euclidean_distance": 2.6938, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.22178, + -0.31367, + -0.54081 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "0_edge_130_newN_0", + "path": [ + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_367_newN_2", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005" + ], + "refined_path": [ + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3Z4XG4ZF4AUZ0DHHRSY7GJES4FOX8P", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.47746, + 3.88633, + 0.84282 + ], + "start_rotation": [ + 0, + 0.99757, + 0, + -0.06963 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 24.0018, + "euclidean_distance": 18.30906, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.98027, + 3.58179, + -10.19602 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "0_edge_450_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005" + ], + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3TY7ZAOG5HNBYOD7X563XA096YRK0T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.21288, + -0.31367, + -5.99834 + ], + "start_rotation": [ + 0, + 0.89273, + 0, + 0.4506 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.12148, + "euclidean_distance": 5.97148, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.37083, + 3.48633, + -2.89966 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "736a864f92174a1facfc05a0eb246091", + "path": [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SB5N7Y3O576W2HO7ELOZI8GZCYG00", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.45355, + 3.28633, + 2.90533 + ], + "start_rotation": [ + 0, + 0.4004, + 0, + -0.91634 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.06219, + "euclidean_distance": 1.5904, + "closest_goal_object_id": 363, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -5.00223, + 3.48633, + 2.55659 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "cc6552274d7e482cbd3bf904d5754203", + "path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "refined_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WOKGM4L73JUOFYMVXYW4RHH9IBO02", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.19143, + 6.68633, + 2.17572 + ], + "start_rotation": [ + 0, + 0.41798, + 0, + -0.90846 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.01097, + "euclidean_distance": 4.07455, + "closest_goal_object_id": 611, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.73743, + 6.68633, + -0.66714 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "479c8982b70a4ae5be3dcf5148b4c739", + "path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3ZY8KE4ISL6D2SCID7EPEP28W3LQVB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.14402, + 4.08745, + 8.22692 + ], + "start_rotation": [ + 0, + 0.10375, + 0, + 0.9946 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 28.34193, + "euclidean_distance": 25.30169, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07613, + 3.41535, + 7.19864 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3PDJHANYK7JFA9YET9JNTJU8RGZH65", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.97709, + 0.08633, + 0.75807 + ], + "start_rotation": [ + 0, + 0.98169, + 0, + -0.1905 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.11603, + "euclidean_distance": 8.89562, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.33807, + -0.31367, + 7.09096 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "b31ae8536d72434ea33243b17fc0dee0", + "path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3QFUFYSY90IHHQ3UFV28T0YHF9Y4FP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.5103, + 3.88633, + 1.05784 + ], + "start_rotation": [ + 0, + 0.81757, + 0, + 0.57582 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 22.0517, + "euclidean_distance": 20.77883, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.81919, + 3.28633, + 5.72052 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "31510efb685f479992bae9af8104a507", + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f96eb45fe2fa4c38a7173a02cab9050a", + [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8" + ], + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3KV0LJBBH4OUO6X9CU2YWJTZN89MRX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -24.07827, + 4.2995, + 9.59934 + ], + "start_rotation": [ + 0, + 0.89099, + 0, + -0.45402 + ], + "object_category": "table", + "info": { + "geodesic_distance": 28.60828, + "euclidean_distance": 25.6827, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.36131, + 3.28633, + 6.07832 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A1S88VQY8G8CNC:3ZPPDN2SLXZQ8I9A1FETSQOXM8CE95", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.98972, + 3.88633, + 5.66163 + ], + "start_rotation": [ + 0, + 0.29511, + 0, + -0.95546 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 18.79411, + "euclidean_distance": 16.05168, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.10345, + 3.28633, + 5.85605 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "0_edge_185_newN_0", + [ + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3F0BG9B9MRQK0428MJS3LXP79N3Y7O", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.43194, + 6.68633, + 6.52879 + ], + "start_rotation": [ + 0, + 0.24586, + 0, + -0.96931 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.01132, + "euclidean_distance": 0.93591, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.30435, + 6.68633, + 6.75551 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "c66a3e6ef48143f5a86d202e62515386", + "path": [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386" + ], + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3WRFBPLXRCR8NMX7D5G2R0FK34X3NR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.39277, + 6.68633, + 8.2908 + ], + "start_rotation": [ + 0, + 0.98629, + 0, + -0.16501 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.94487, + "euclidean_distance": 6.59427, + "closest_goal_object_id": 500, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.69753, + 6.72799, + 2.05479 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "36851a5222e54eb288084a0f3e55340e", + "path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "refined_path": [ + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3LBXNTKX0TYZEI0RWK4LGF942J9X9T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.49877, + 3.88633, + 4.61316 + ], + "start_rotation": [ + 0, + 0.89452, + 0, + 0.44703 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 28.6489, + "euclidean_distance": 16.83082, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.27504, + 3.48633, + -5.8573 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:37Q970SNZGB9TWBXYXJ521ATSISS1Z", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.10969, + 4.07194, + 3.60928 + ], + "start_rotation": [ + 0, + 0.47978, + 0, + -0.87739 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.55157, + "euclidean_distance": 13.2979, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.09611, + 3.28633, + 4.4846 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:338JKRMM282GXBAHJM0Z9OWT6NWAHO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.1796, + 3.28633, + 5.6923 + ], + "start_rotation": [ + 0, + 0.99574, + 0, + -0.09221 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 15.10268, + "euclidean_distance": 10.21481, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -3.96593, + 0.30718, + -3.52127 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "5f04c594ab574a4b9f4535abdfab07e0", + "path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6" + ], + "refined_path": [ + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:304SM51WA57A6UTP0UCU8DN1V68BST", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.91361, + -0.31367, + -4.14569 + ], + "start_rotation": [ + 0, + 0.23461, + 0, + 0.97209 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.07963, + "euclidean_distance": 3.70694, + "closest_goal_object_id": 111, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.72045, + -0.31367, + -2.1192 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "refined_path": [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + [ + "7bb74d11234146b19b211e4b1c319cbf" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3HMVI3QICLV6PIN6X3BUKNYU66J1YK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.68086, + 3.88633, + 0.54165 + ], + "start_rotation": [ + 0, + 0.25917, + 0, + 0.96583 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 23.84833, + "euclidean_distance": 22.74773, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.09073, + 3.42239, + 7.12002 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3EKVH9QME07AGSABKBOUCLYYJME2DG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.93603, + 3.88633, + 3.9492 + ], + "start_rotation": [ + 0, + 0.63555, + 0, + 0.77206 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 25.82163, + "euclidean_distance": 17.91632, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.05572, + 0.27645, + -3.54563 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "0_edge_185_newN_0", + "0_edge_185_newN_1", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2" + ], + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39GAF6DQWT3PLOS1SSOADOUZA84V1E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 22.5505, + -0.74753, + 4.48034 + ], + "start_rotation": [ + 0, + 0.99421, + 0, + -0.10747 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 18.48273, + "euclidean_distance": 16.39694, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.18095, + -0.31367, + 4.47435 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "path": [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_88_newN_2", + "0_edge_86_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "0_edge_384_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "0_edge_75_newN_1", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "0_edge_88_newN_0", + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_384_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "0_edge_75_newN_1", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "refined_path": [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a" + ], + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1" + ], + "0_edge_86_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2" + ], + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + [ + "0_edge_88_newN_0", + "0_edge_88_newN_1", + "0_edge_88_newN_0", + "0_edge_385_newN_1", + "a83bd24881e7417b959c51f84eb6a059" + ], + "0_edge_384_newN_0", + [ + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + [ + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + [ + "d8401d8f05d84422a3543e9a1e612d11" + ], + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + [ + "60434c00433b4438912eebe9bd2c6984" + ], + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0" + ], + "0_edge_75_newN_1", + [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de" + ] + }, + { + "episode_id": "A75XDPFNICR3T:33LKR6A5KGNA8WOCNXOVC66FU271T0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.56003, + -0.31367, + -17.12423 + ], + "start_rotation": [ + 0, + 0.98674, + 0, + 0.16229 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.84487, + "euclidean_distance": 19.02087, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.83433, + -0.20407, + -6.23796 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "4a9d28ec80c94f1cadedb3e17667cd29", + "path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "4a9d28ec80c94f1cadedb3e17667cd29", + "32e645590a554d8694a69851854a1c10", + "0_edge_112_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "7c2ba622b1ae4a68a8dc97c69030da06", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BV8HQ2ZZY400MQ0N39VCX74BL0A6B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 17.26211, + -0.91367, + 9.19826 + ], + "start_rotation": [ + 0, + 0.63413, + 0, + 0.77322 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.69508, + "euclidean_distance": 9.30042, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.2732, + -0.31367, + 4.52107 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:39LOEL67OU8NKFA373RJ93POXGT83Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.60809, + 0.09164, + 0.84519 + ], + "start_rotation": [ + 0, + 0.39966, + 0, + -0.91666 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.59787, + "euclidean_distance": 2.34589, + "closest_goal_object_id": 262, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.34866, + 0.08633, + 3.02272 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "b31ae8536d72434ea33243b17fc0dee0", + "path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QJOXOW4XLU5F2S4QOIYXCUHLPDME5", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.26636, + -0.31367, + -5.72808 + ], + "start_rotation": [ + 0, + 0.9987, + 0, + -0.05101 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.61619, + "euclidean_distance": 3.41179, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.20541, + -0.31367, + -9.14259 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "32f8f90c0eb247758cb6cc576df52a46", + "path": [ + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "0_edge_290_newN_0", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33" + ], + "refined_path": [ + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "0_edge_46_newN_1", + [ + "e5fc4a655a7a451eaec61f1dcaf902de" + ], + "0_edge_76_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_46_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:33M4IA01QI45IIWDQ147709Y85YXRZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.45589, + 0.13899, + -3.65804 + ], + "start_rotation": [ + 0, + 0.94294, + 0, + 0.33297 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 24.11362, + "euclidean_distance": 5.77926, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.24294, + 3.48633, + -5.78201 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "682b19fbab024b3ca81f62cd4d287ca7", + "path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "682b19fbab024b3ca81f62cd4d287ca7", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7" + ], + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3DY4FPOOA3RDETRIQM3PJFCDVMDRV0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.10762, + 4.08194, + 4.25281 + ], + "start_rotation": [ + 0, + 0.24896, + 0, + 0.96851 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 24.11958, + "euclidean_distance": 12.72989, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.32353, + 3.48633, + -5.77856 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3TEM0PF1Q703KI7X5OKGTX5J6DID0T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.9553, + 6.81344, + 0.06555 + ], + "start_rotation": [ + 0, + 0.87356, + 0, + -0.48672 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.03063, + "euclidean_distance": 8.09193, + "closest_goal_object_id": 589, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.68871, + 6.68633, + -7.29508 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "5e7ad15a2bbd4a55a95560ee0121c222", + "path": [ + "5e7ad15a2bbd4a55a95560ee0121c222", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "5e7ad15a2bbd4a55a95560ee0121c222", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0" + ], + "refined_path": [ + "5e7ad15a2bbd4a55a95560ee0121c222", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + [ + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + [ + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + [ + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:373ERPL3YQBY11NTLR3AIXORHFMTRK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.31699, + 6.68633, + 2.87292 + ], + "start_rotation": [ + 0, + 0.03604, + 0, + -0.99935 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.72849, + "euclidean_distance": 5.3796, + "closest_goal_object_id": 509, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.30903, + 6.68633, + 6.73742 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "d547331b610244018371be43294f36c1", + "path": [ + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "refined_path": [ + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ] + }, + { + "episode_id": "A5A14MTB35J23:3F1567XTNY8F5LZFA69TM7DB86W9Q1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.06095, + 3.44569, + 0.49623 + ], + "start_rotation": [ + 0, + 0.39117, + 0, + -0.92032 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 11.47924, + "euclidean_distance": 8.26151, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.1786, + 3.28633, + 4.65263 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "139cf2b84c594863a0e437a5ff3caa6e", + "path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:35GCEFQ6I7R24BBQGTRWMNMTAFV3ZP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.26072, + 3.48633, + -1.49718 + ], + "start_rotation": [ + 0, + 0.99883, + 0, + 0.04843 + ], + "object_category": "table", + "info": { + "geodesic_distance": 9.26052, + "euclidean_distance": 4.24487, + "closest_goal_object_id": 257, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.03314, + 0.06806, + -0.30424 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "830bd3180a5f497d8631f6c8112792d6", + "path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6" + ], + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3DL65MZB8FIS6GGDDZOKUGP5SCNECW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.0475, + 3.88633, + 2.08039 + ], + "start_rotation": [ + 0, + 0.92929, + 0, + 0.36936 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 16.54501, + "euclidean_distance": 15.23104, + "closest_goal_object_id": 322, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.67367, + 3.28633, + 5.63575 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A34T4R7G25LDJM:3N1FSUEFL73KJ6PYOP7I50VVK2ZD4V", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.92298, + -0.31367, + 7.9048 + ], + "start_rotation": [ + 0, + 0.21802, + 0, + 0.97594 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.31836, + "euclidean_distance": 15.16977, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.37298, + 0.08633, + -3.14758 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + [ + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + [ + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3IJXV6UZ1ZM8SN7IRF464QMJKH6RIJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.98664, + -0.31367, + 5.14073 + ], + "start_rotation": [ + 0, + 0.94279, + 0, + -0.3334 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 11.18556, + "euclidean_distance": 8.86574, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.87985, + 0.15319, + 0.84152 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "d8401d8f05d84422a3543e9a1e612d11", + "path": [ + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3IUZPWIU1QA46EESQCZO459D70TWKO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.1242, + -0.31367, + 9.97553 + ], + "start_rotation": [ + 0, + 0.92571, + 0, + 0.37823 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.62419, + "euclidean_distance": 7.07288, + "closest_goal_object_id": 98, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.87999, + -0.31367, + 4.20292 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "0_edge_450_newN_1", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "refined_path": [ + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb" + ], + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:37TRT2X24SUH7RAZD03GGCWF21CBJR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.81243, + 3.88633, + -0.62046 + ], + "start_rotation": [ + 0, + 0.29925, + 0, + 0.95417 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 28.73512, + "euclidean_distance": 14.52294, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.20023, + 3.48633, + -5.68594 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3WZ36BJEV5JBLU64PUHKIIJNXGABTO", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.63553, + 3.28633, + 5.03282 + ], + "start_rotation": [ + 0, + 0.9697, + 0, + 0.24429 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.16826, + "euclidean_distance": 3.12304, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.1076, + 3.42197, + 7.0091 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:3VNXK88KKEL7ATVWW533SUCI8FIV93", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.60466, + 4.08633, + 3.51523 + ], + "start_rotation": [ + 0, + 0.9711, + 0, + -0.23866 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.63825, + "euclidean_distance": 14.12137, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.35087, + 3.28633, + 5.70853 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009" + ], + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VAR3R6G1R4C643PQ1BBX6N091NO8E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.71705, + 3.11617, + -2.75234 + ], + "start_rotation": [ + 0, + 0.09988, + 0, + 0.995 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 19.58194, + "euclidean_distance": 4.8201, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.12012, + -0.31367, + -5.30798 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "3c8b0995c325481a85ad4648931e5fde", + "path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "refined_path": [ + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde" + ], + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3U5NZHP4LT5NKFGJ85IWZJLPMJHHPZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.23002, + -0.31367, + 5.69827 + ], + "start_rotation": [ + 0, + 0.43577, + 0, + -0.90006 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 1.30152, + "euclidean_distance": 1.17092, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.29321, + -0.31367, + 5.88772 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "d8401d8f05d84422a3543e9a1e612d11", + "path": [ + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1" + ], + "refined_path": [ + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e", + [ + "d8401d8f05d84422a3543e9a1e612d11" + ], + "0_edge_278_newN_0", + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "09e4e508dfb542bb86651bf77d36a64e" + ], + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a" + ], + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_88_newN_1" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3LKC68YZ3C6NW5Z7O4RHBMQMOABOWF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.76677, + 3.88633, + 4.19079 + ], + "start_rotation": [ + 0, + 0.71006, + 0, + -0.70414 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 17.09104, + "euclidean_distance": 15.14066, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.06548, + 3.41557, + 7.14426 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3PH3VY7DJN0ZV9DEQD2YRKXQVZ1ZW8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.15754, + 3.89629, + 5.26914 + ], + "start_rotation": [ + 0, + 0.97757, + 0, + -0.21063 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.77298, + "euclidean_distance": 12.26046, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.69849, + 3.48633, + 8.07856 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3KKG4CDWKK18GGCHC92GJ4C69H6499", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.3738, + 1.06921, + -4.82502 + ], + "start_rotation": [ + 0, + 0.8173, + 0, + -0.57622 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.93633, + "euclidean_distance": 4.32285, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.90929, + -0.31367, + -2.71764 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "d3e8b8227bae4a98a88d307d56b02908", + "path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3AMYWKA6YDPP2QK1XMEDDSR935CO65", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.73728, + 3.88633, + 0.08436 + ], + "start_rotation": [ + 0, + 0.97027, + 0, + 0.24202 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 19.58692, + "euclidean_distance": 10.93852, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.00794, + 0.2859, + -3.57241 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1" + ] + }, + { + "episode_id": "A5A14MTB35J23:30ZX6P7VFAYNJEA3U7A5FJTBO2N2JY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.31656, + 3.48633, + -12.85547 + ], + "start_rotation": [ + 0, + 0.46995, + 0, + 0.88269 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.43325, + "euclidean_distance": 3.45403, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.93557, + 3.57271, + -10.25439 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A19BDVIRTDE5RQ:3W92K5RLWWKO96TKTFQMGE7GKCU5V1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.14241, + 6.68633, + 6.20076 + ], + "start_rotation": [ + 0, + 0.3313, + 0, + 0.94353 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 1.83174, + "euclidean_distance": 1.703, + "closest_goal_object_id": 539, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.26171, + 6.68633, + 7.32547 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "c66a3e6ef48143f5a86d202e62515386", + "path": [ + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "3103ac3f8af84b21baa815a539ef2d1f", + [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386" + ], + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3ZGVPD4G6VK73S9KV8XN40QQQSWZT2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.04853, + 4.12062, + -4.59868 + ], + "start_rotation": [ + 0, + 0.42014, + 0, + 0.90746 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.38993, + "euclidean_distance": 9.11899, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.97428, + 3.57814, + -10.25839 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "2985a27f4c174730b22ccb0f29699f36", + "path": [ + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3ATTHHXXWCRSPJTU0EAYT8867KUIX1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 10.26718, + -0.31367, + 3.73453 + ], + "start_rotation": [ + 0, + 0.89306, + 0, + 0.44994 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 21.79396, + "euclidean_distance": 19.9588, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.48275, + 0.08633, + -3.15215 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "bc497ec23cba4e7b9630cf20f5a73b03", + "path": [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3KGTPGBS6ZOWXULX66EJML2M2VZ2UV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.01921, + -0.31367, + -0.35351 + ], + "start_rotation": [ + 0, + 0.77124, + 0, + 0.63654 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.36256, + "euclidean_distance": 9.69241, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.71254, + 3.48633, + 7.98009 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "ee34e33014c94bf79cda5892e2ec6b24", + "path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_450_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3LWJHTCVCEPO6VQSDS9LW3ZLUJPQFJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -25.75054, + 4.2328, + 7.74285 + ], + "start_rotation": [ + 0, + 0.5675, + 0, + 0.82337 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 25.51553, + "euclidean_distance": 24.29157, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.70642, + 3.28633, + 4.23081 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3AAPLD8UCEKLC79QPMRG4TMMBN0HT4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.30112, + 6.88633, + 0.64832 + ], + "start_rotation": [ + 0, + 0.41859, + 0, + -0.90817 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.36466, + "euclidean_distance": 6.16429, + "closest_goal_object_id": 554, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.65255, + 6.68633, + 2.2365 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "0_edge_282_newN_1", + "path": [ + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ], + "refined_path": [ + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269" + ] + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:379J5II41QJL9KAJQCHJXZFR8DSLEE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.69724, + 6.75436, + 2.2372 + ], + "start_rotation": [ + 0, + 0.99813, + 0, + 0.06108 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.98273, + "euclidean_distance": 6.69235, + "closest_goal_object_id": 605, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.10276, + 6.68633, + -2.55144 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_207_newN_1", + "path": [ + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ], + "refined_path": [ + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3WT783CTPDKUZD4T38MUT8JKPPRBCU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.50651, + 3.88633, + 6.20912 + ], + "start_rotation": [ + 0, + 0.4282, + 0, + -0.90369 + ], + "object_category": "table", + "info": { + "geodesic_distance": 22.0742, + "euclidean_distance": 19.84856, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.23587, + 3.28633, + 6.04405 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3VFJCI1K412UWW1N1R43JE9383BRGP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -8.07837, + 3.94659, + 1.51784 + ], + "start_rotation": [ + 0, + 0.095, + 0, + -0.99548 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.22776, + "euclidean_distance": 15.01522, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.31807, + 3.28633, + 5.62019 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3X4MXAO0BIRQTIRNGW8L5HVQJLGWRB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.56317, + 0.09256, + 4.20976 + ], + "start_rotation": [ + 0, + 0.71812, + 0, + -0.69592 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.79487, + "euclidean_distance": 4.14527, + "closest_goal_object_id": 80, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.08112, + -0.31367, + 1.89756 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0_edge_441_newN_1", + "path": [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "0_edge_290_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "refined_path": [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:324G5B4FB5BN396NEBHUT5VNXA3074", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.13182, + 3.48633, + 1.97852 + ], + "start_rotation": [ + 0, + 0.78075, + 0, + -0.62484 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.1935, + "euclidean_distance": 13.00505, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.3965, + 3.28633, + 5.67637 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3KKG4CDWKK18GGCHC92GJ4C69BC493", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.35894, + 3.88633, + -1.04286 + ], + "start_rotation": [ + 0, + 0.50893, + 0, + 0.86081 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 17.82844, + "euclidean_distance": 11.6095, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.32565, + 3.48633, + -10.24508 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_238_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + [ + "5a17727c63bb4c64bd10875f8d652009" + ], + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "ce23b2b514f449a0b334dc15146fc14f", + [ + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2" + ], + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + "7c2ba622b1ae4a68a8dc97c69030da06" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3QAVNHZ3EO7IJ7T7A7FX1GP14KELAU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.413, + -0.31367, + -9.16684 + ], + "start_rotation": [ + 0, + 0.58171, + 0, + -0.8134 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.95904, + "euclidean_distance": 16.93764, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.10877, + -0.31367, + -5.24456 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "858ce8552a0a40b686b4de4bc9eec65c", + "path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A272X64FOZFYLB:378XPAWRUEGGT6L1P4IK90X9KOAIAG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.36597, + 0.09205, + 0.33602 + ], + "start_rotation": [ + 0, + 0.95419, + 0, + 0.29921 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 28.14383, + "euclidean_distance": 7.03777, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.25348, + 3.48633, + -5.7601 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "976a7a79035a4583a10624453174d94e", + "path": [ + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0" + ], + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3K2755HG5U6UHMMN8631W4SNSNVDFH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.96586, + -0.31367, + 2.46614 + ], + "start_rotation": [ + 0, + 0.28724, + 0, + 0.95786 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.18593, + "euclidean_distance": 3.80136, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.33729, + -0.30913, + 5.96844 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "0_edge_438_newN_0", + "path": [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6" + ], + "refined_path": [ + "0_edge_438_newN_0", + "0_edge_438_newN_1", + [ + "0_edge_438_newN_0" + ], + "bc497ec23cba4e7b9630cf20f5a73b03", + "4486a4f9a25742c98cdd93b72fb3220e", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:32SVAV9L3HC1333I41BX5UVK4T5A3D", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.44183, + 3.48633, + -12.21136 + ], + "start_rotation": [ + 0, + 0.36205, + 0, + 0.93216 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.9992, + "euclidean_distance": 4.6743, + "closest_goal_object_id": 382, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.70885, + 3.48633, + -8.97006 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "c2f4ac1cd281454d80acbc4d79c12aef", + "path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ], + "refined_path": [ + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3R8YZBNQ9JLBR2BMV9B98BM59387QT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.23684, + -0.31367, + -11.40185 + ], + "start_rotation": [ + 0, + 0.98972, + 0, + -0.14305 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.67569, + "euclidean_distance": 6.21872, + "closest_goal_object_id": 154, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.29929, + -0.31367, + -9.4487 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "b6a9f93f5e264750ad8159d4b93ac177", + "path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "refined_path": [ + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + [ + "d9c135bdc3bf4abdb06c89c8722ac2a1" + ], + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0" + ] + }, + { + "episode_id": "A1198W1SPF1R4:374TNBHA8DYU6M7NII19LO62D2WYQ0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.31942, + -0.31367, + -13.73209 + ], + "start_rotation": [ + 0, + 0.76083, + 0, + -0.64895 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.20392, + "euclidean_distance": 9.63153, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.36358, + -0.31367, + -4.23788 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "503e9158558647fea49c1e6cfd0d5bc4", + "path": [ + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + "d950474d24d1474ca4b85b927aa958e5", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "refined_path": [ + "503e9158558647fea49c1e6cfd0d5bc4", + "0_edge_25_newN_1", + "0_edge_367_newN_2", + [ + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4" + ], + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "41fa201781b6448db96e6a4d4f96041e", + "10_edge_64_newN_0", + "0_edge_311_newN_0", + "0_edge_311_newN_1", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "0_edge_99_newN_1", + [ + "d950474d24d1474ca4b85b927aa958e5" + ], + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + [ + "634ddf341f6443118bea4195d06c6555" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "b682278fff3c4478b2f6e2012e31fd18" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3U5JL4WY5MCYHCUFFP8UZ7YOGE2X4E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.98716, + 4.07865, + 3.50445 + ], + "start_rotation": [ + 0, + 0.64148, + 0, + -0.76714 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.53582, + "euclidean_distance": 6.33171, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.75331, + 3.28633, + 4.11252 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3EICBYG646Z0HW25R0ZBRW2X0XFCJ4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.60922, + 3.28633, + 5.40089 + ], + "start_rotation": [ + 0, + 0.01025, + 0, + -0.99995 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.09271, + "euclidean_distance": 4.66492, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.11626, + 3.42985, + 7.0837 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3L70J4KAZIPZLV5FXQH9I3HWSJ0DA7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.98679, + 6.68633, + -2.96721 + ], + "start_rotation": [ + 0, + 0.38076, + 0, + 0.92467 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 17.05603, + "euclidean_distance": 11.56955, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.11432, + 6.68633, + 8.40129 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "4ed0dc66de83415196cb59d120b71d55", + "path": [ + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "2e532d8410fd4761b8166eedc0470347", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0_edge_283_newN_1", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + [ + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55" + ], + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091" + ], + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:30IQTZXKAM9HIOCEWOLSN48BZ980X1", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.91591, + -0.31367, + -9.65652 + ], + "start_rotation": [ + 0, + 0.47887, + 0, + 0.87788 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.90533, + "euclidean_distance": 9.14184, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.09005, + -0.31367, + -5.64724 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "0_edge_83_newN_1", + "path": [ + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3U4J9857OGEONW9XCREJDMR6RI5B7H", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.04713, + 3.28633, + 7.02797 + ], + "start_rotation": [ + 0, + 0.9848, + 0, + -0.17367 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 24.78738, + "euclidean_distance": 12.77813, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.24821, + 3.48633, + -5.78832 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "4edc8197749e4379b34c663f9e370a80", + "path": [ + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + [ + "4edc8197749e4379b34c663f9e370a80" + ], + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3BWI6RSP7ICMUZLHMIG9EUXQBGSE7B", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.46709, + 3.88633, + 1.6269 + ], + "start_rotation": [ + 0, + 0.34159, + 0, + 0.93985 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.38642, + "euclidean_distance": 20.98486, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.97387, + 3.28633, + 5.84097 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NAPMVF0ZYIUZJ91TYL8CTO2XCR275", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.9125, + 0.08633, + 2.61258 + ], + "start_rotation": [ + 0, + 0.37328, + 0, + -0.92772 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 25.93608, + "euclidean_distance": 7.9819, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.63095, + 3.48633, + 8.08507 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_238_newN_0", + "path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3C5W7UE9CHTEL2JLLT8QL1FO56MXMD", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.86829, + -0.77994, + 6.26977 + ], + "start_rotation": [ + 0, + 0.95699, + 0, + -0.29013 + ], + "object_category": "table", + "info": { + "geodesic_distance": 16.29977, + "euclidean_distance": 11.56499, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.41736, + -0.31367, + 5.86803 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0_edge_359_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0_edge_359_newN_1", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "0_edge_359_newN_1", + [ + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a" + ], + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + [ + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + [ + "d12a35cb161641318a92f9e5dd8915db" + ], + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "241fde907a674d6ca8916fd2beec6dfc" + ], + "60434c00433b4438912eebe9bd2c6984", + [ + "241fde907a674d6ca8916fd2beec6dfc" + ], + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3GA6AFUKOQRGDQBWA7LPMGIOEQ83HV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.19557, + -0.31367, + -3.22185 + ], + "start_rotation": [ + 0, + 0.8114, + 0, + -0.5845 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 4.0462, + "euclidean_distance": 3.55082, + "closest_goal_object_id": 129, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.76552, + -0.31367, + -6.51959 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "refined_path": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3F6HPJW4JF39PYA216TK49NJQZTW2M", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.99597, + -0.87524, + 6.39401 + ], + "start_rotation": [ + 0, + 0.4319, + 0, + 0.90192 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.53634, + "euclidean_distance": 9.92326, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 9.3949, + -0.31367, + 4.4482 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3VZLGYJEYNDEK9I40IYKT3BW1LJZXC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.09228, + -0.31367, + -0.28863 + ], + "start_rotation": [ + 0, + 0.26378, + 0, + -0.96458 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.58899, + "euclidean_distance": 12.18195, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.21712, + -0.31367, + -5.23401 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "bc28e77e30a94f76aee87ac07949ecc4", + "path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ], + "refined_path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b86b79b6a66546e58155579ef00b1e7d", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c" + ] + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3UJ1CZ6IZJS8HECGZKLH5RN9LS6S5T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.54714, + 3.88633, + 1.63874 + ], + "start_rotation": [ + 0, + 0.88757, + 0, + 0.46067 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 26.73001, + "euclidean_distance": 20.95926, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.39304, + 3.48633, + -10.1493 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "AM7FYVGVOEP66:3VZLGYJEYNDEK9I40IYKT3BXKEZZXZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -13.49412, + 3.88633, + 5.62047 + ], + "start_rotation": [ + 0, + 0.00282, + 0, + 1 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 17.86299, + "euclidean_distance": 15.52465, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.02922, + 3.28633, + 5.59471 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + [ + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3FPRZHYEP0ALVR6GFW2T1H9XM39V3Z", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.33467, + 6.68633, + -1.06639 + ], + "start_rotation": [ + 0, + 0.91198, + 0, + 0.41023 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.72966, + "euclidean_distance": 3.88079, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.97091, + 6.70213, + -2.95009 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "0a7c88b186e6416dad35dadc4154ce93", + "path": [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "0_edge_280_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "refined_path": [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + [ + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ] + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3DHE4R9OCYEDSCK2M1P2I61UDGRG2K", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -4.7753, + 3.48633, + -1.33417 + ], + "start_rotation": [ + 0, + 0.95114, + 0, + -0.30876 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 11.54875, + "euclidean_distance": 5.33342, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.50152, + 0.08633, + -3.15933 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "0_edge_317_newN_0", + "path": [ + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0" + ], + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "a70662f06c7d43348cf1592a80e7e183", + "2985a27f4c174730b22ccb0f29699f36", + "2123d2d754d741d2b1de4ea8328bba51", + [ + "2985a27f4c174730b22ccb0f29699f36", + "a70662f06c7d43348cf1592a80e7e183", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WYP994K19U1W4O339NBFJPAYIEY6E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.61433, + -0.31367, + 0.971 + ], + "start_rotation": [ + 0, + 0.80721, + 0, + 0.59027 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 19.30025, + "euclidean_distance": 17.15836, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.9123, + -0.31367, + -6.04285 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "d12a35cb161641318a92f9e5dd8915db", + "path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + [ + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:30X31N5D65T5NKOXUGCYD23WW90SAJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -14.38617, + 3.88633, + 0.40893 + ], + "start_rotation": [ + 0, + 0.12356, + 0, + -0.99234 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 25.94955, + "euclidean_distance": 19.61491, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.0634, + 3.58701, + -10.34917 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "78851de517464ff6aaced75d7850b5a8", + "path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:37W3JXSD68BZQJ39UR0FDDOO5F1YWK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 11.47942, + -0.31367, + -4.62541 + ], + "start_rotation": [ + 0, + 0.52647, + 0, + 0.8502 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.16745, + "euclidean_distance": 12.02799, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.47365, + -0.31367, + -14.42881 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "bb06442335d542cbb733939a78fcff36", + "path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "0_edge_289_newN_0", + "fb7e82f5b99340eabb9a579772176b33", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "0_edge_130_newN_1", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "refined_path": [ + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + [ + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f" + ], + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "fb7e82f5b99340eabb9a579772176b33", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + [ + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3AQF3RZ55ALVWD78YJVNQYIUUCVF6H", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.99326, + 6.68633, + 4.99837 + ], + "start_rotation": [ + 0, + 0.12907, + 0, + -0.99164 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 1.0263, + "euclidean_distance": 0.94327, + "closest_goal_object_id": 512, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.87854, + 6.68633, + 5.89925 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_42_newN_0", + "path": [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be" + ], + "refined_path": [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3QEMNNSB2Z2H2T7HQN5P8CF6UYOD7N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.68601, + -0.31367, + -11.39545 + ], + "start_rotation": [ + 0, + 0.80956, + 0, + -0.58703 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.69979, + "euclidean_distance": 8.25804, + "closest_goal_object_id": 268, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.21693, + -0.31367, + -4.15733 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0d600d9a62be462ca3aa8e9c77d07d5a", + "path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_278_newN_0" + ], + "refined_path": [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + [ + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3MMN5BL1W17254C71412ELQKVBKM3Y", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 19.35428, + -0.82702, + 6.1085 + ], + "start_rotation": [ + 0, + 0.54334, + 0, + 0.83952 + ], + "object_category": "table", + "info": { + "geodesic_distance": 15.97173, + "euclidean_distance": 11.04945, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.41816, + -0.31367, + 5.91359 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_88_newN_2", + "0_edge_86_newN_0", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1" + ], + "0_edge_86_newN_0", + [ + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "2fa65a1236d3450098b17c1855224b9a", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3S4AW7T80DL3HIDQ1656OD319IU4LR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.92564, + 3.48633, + -4.83709 + ], + "start_rotation": [ + 0, + 0.30591, + 0, + -0.95206 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 15.1707, + "euclidean_distance": 14.1485, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.68634, + 3.48633, + 8.15468 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "599f73b398ef4e738aae7f557c0b35c6", + "path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BC8WZX3V5ZLLMA1H2YFIIN9TT3RRH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.25372, + -0.31367, + -10.82741 + ], + "start_rotation": [ + 0, + 0.99997, + 0, + -0.00814 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 5.53764, + "euclidean_distance": 5.15321, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.10985, + -0.31367, + -15.72211 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0_edge_83_newN_0", + "path": [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "0_edge_441_newN_1", + "0_edge_135_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_450_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "0_edge_83_newN_0", + "87298f50ef9140d891e1a06b4f1fab8a", + "0_edge_25_newN_0", + "0_edge_25_newN_1", + "503e9158558647fea49c1e6cfd0d5bc4", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "2541575c89e8441da0419900ff2388dd", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + [ + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512" + ], + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea" + ], + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_54_newN_1", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + [ + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33NF62TLXL5I0UETJDG9FFF5PXSKJV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.97048, + 3.28633, + 6.97008 + ], + "start_rotation": [ + 0, + 0.48373, + 0, + -0.87522 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 24.74271, + "euclidean_distance": 12.71562, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.24622, + 3.48633, + -5.8833 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "4edc8197749e4379b34c663f9e370a80", + "path": [ + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80" + ], + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3GGAI1SQEX1QI48QUXC37OUE4OBCM3", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.62819, + 6.68633, + 2.83061 + ], + "start_rotation": [ + 0, + 0.32649, + 0, + -0.9452 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.9168, + "euclidean_distance": 7.68286, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.98004, + 6.71624, + -0.93071 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "23529d8037d541ccbcccc986d779f269", + "path": [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "refined_path": [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:36PW28KO41Z4D1JFTLSTOLZHFAEAER", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.48128, + -0.31367, + -2.86581 + ], + "start_rotation": [ + 0, + 0.68967, + 0, + -0.72413 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.82916, + "euclidean_distance": 11.4178, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.23789, + 3.48633, + -3.0445 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "1ce731acccb04ec0af8f7992ae21524f", + "path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Q5ZZ9ZEVQIQYUX7LMFCO0N9S7485H", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.22379, + -0.31367, + -2.4887 + ], + "start_rotation": [ + 0, + 0.03203, + 0, + 0.99949 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 23.45728, + "euclidean_distance": 12.1305, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.24441, + 3.48633, + -2.94596 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3MAOD8E57SDK3K4LXUNQYG4O72ENXU", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.31234, + 3.28633, + 2.30671 + ], + "start_rotation": [ + 0, + 0.84887, + 0, + 0.52861 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.12357, + "euclidean_distance": 6.70783, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.16765, + 3.4323, + 7.27253 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "cc6552274d7e482cbd3bf904d5754203", + "path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3BV8HQ2ZZY400MQ0N39VCX74BX7A66", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.89628, + -0.31367, + -7.42443 + ], + "start_rotation": [ + 0, + 0.6252, + 0, + -0.78046 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.34415, + "euclidean_distance": 5.99468, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.28716, + 3.48633, + -2.83204 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "c51baa7dc99849c4934d01a94a268c23", + "path": [ + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "90dcb8a526504454b728d3f7951f153f", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23" + ], + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + [ + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3JMSRU9HQKXO5PMD4GJPK8DUGVRVER", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -16.10619, + 3.88633, + 4.89551 + ], + "start_rotation": [ + 0, + 0.03446, + 0, + -0.99941 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 23.34085, + "euclidean_distance": 21.24833, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.01498, + 3.28633, + 4.54499 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3WRFBPLXRCR8NMX7D5G2R0FKNSQ3NG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 9.6238, + -0.31367, + -2.493 + ], + "start_rotation": [ + 0, + 0.78515, + 0, + 0.61931 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 20.16685, + "euclidean_distance": 18.9715, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.98727, + -0.30682, + -6.06793 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + [ + "fd22cb9d82364bbdb6ea4fdb051a7721" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:36U2A8VAG328VJ9S5DHCP2UTFC9YKA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 14.94765, + -0.29448, + -6.00045 + ], + "start_rotation": [ + 0, + 0.7984, + 0, + 0.60213 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.04413, + "euclidean_distance": 13.34839, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.20829, + -0.31367, + 2.96164 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "b682278fff3c4478b2f6e2012e31fd18", + "path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + [ + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3EWIJTFFVQA8COLX1JV0ZFN332QE0F", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -10.60443, + 3.88633, + 2.34751 + ], + "start_rotation": [ + 0, + 0.21614, + 0, + -0.97636 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 14.82279, + "euclidean_distance": 13.68446, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.0809, + 3.41684, + 7.18982 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37QW5D2ZRIPR4WVIXISKHBX16LQS85", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.98111, + 4.07664, + 3.34666 + ], + "start_rotation": [ + 0, + 0.36087, + 0, + 0.93262 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 20.15072, + "euclidean_distance": 16.9503, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.09463, + 3.59486, + -10.27445 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3NPI0JQDAQ8DPO7E8ZZLD2OCG3WTP2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.78511, + 4.15866, + 8.44975 + ], + "start_rotation": [ + 0, + 0.72796, + 0, + 0.68562 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 29.02381, + "euclidean_distance": 25.95277, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.07378, + 3.41372, + 7.22165 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3X66WABAJYL2DUGLQ1371G6N2QG3GK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.61462, + -0.91367, + 6.5938 + ], + "start_rotation": [ + 0, + 0.86517, + 0, + 0.50149 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 21.28729, + "euclidean_distance": 15.21859, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.31258, + -0.31367, + 6.78551 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + [ + "ce55b83aa694421a89a9866dc7c6b7b6" + ], + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + [ + "0_edge_425_newN_1" + ], + "09e4e508dfb542bb86651bf77d36a64e", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc" + ] + }, + { + "episode_id": "AAX9LTAOIBECD:3WAKVUDHUYJ3JVI3CIVEICJUGZHU7E", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -23.60022, + 4.08633, + 6.40798 + ], + "start_rotation": [ + 0, + 0.91118, + 0, + 0.41201 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 23.10619, + "euclidean_distance": 21.98747, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.79306, + 3.28633, + 4.07211 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:339ANSOTR75M5JUN1VV93E04BZ0KIB", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.49676, + -0.31367, + -5.05076 + ], + "start_rotation": [ + 0, + 0.18679, + 0, + 0.9824 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 6.68665, + "euclidean_distance": 3.94747, + "closest_goal_object_id": 111, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.89786, + -0.31367, + -2.1918 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "0_edge_101_newN_0", + "path": [ + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ], + "refined_path": [ + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "1ce731acccb04ec0af8f7992ae21524f", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:33OOO72IVJOUVZYA3UDFT2P6V2ZTCM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.56873, + 3.88633, + 2.55638 + ], + "start_rotation": [ + 0, + 0.15038, + 0, + 0.98863 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 25.47215, + "euclidean_distance": 23.8739, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.08863, + 3.28633, + 6.04872 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3XXU1SWE8OY5MB4LLETE3WXDYHB0AV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.16306, + 3.48633, + -1.90377 + ], + "start_rotation": [ + 0, + 0.99811, + 0, + 0.06139 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.4966, + "euclidean_distance": 3.61439, + "closest_goal_object_id": 240, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.69548, + 0.17458, + -1.8955 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "830bd3180a5f497d8631f6c8112792d6", + "path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3OVHNO1VE840M3DN9IX8ZW84NFPZDI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.65944, + -0.31367, + -5.06983 + ], + "start_rotation": [ + 0, + 0.70984, + 0, + 0.70436 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.22237, + "euclidean_distance": 8.45054, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.0773, + -0.31367, + -5.71112 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "32f8f90c0eb247758cb6cc576df52a46", + "path": [ + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3IQ1VMJRYVNNI5SYLAC7W7Y61M3A9H", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 17.47477, + -0.91367, + 9.10666 + ], + "start_rotation": [ + 0, + 0.97615, + 0, + -0.21709 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.14337, + "euclidean_distance": 9.7223, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 8.38727, + -0.31367, + 5.90982 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3TVRFO09GMIUFK10LH7BLO0Z21XLXX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.21342, + 3.88633, + 4.30911 + ], + "start_rotation": [ + 0, + 0.9952, + 0, + -0.09789 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 29.23875, + "euclidean_distance": 27.35214, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.10968, + 3.28633, + 4.67368 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "73a961a9e612400b9f30493cb9375f81", + "path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:336KAV9KYSVDE352G7B8P68ZLYJ2YJ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -22.98003, + 3.95408, + 5.57667 + ], + "start_rotation": [ + 0, + 0.74922, + 0, + 0.66232 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 23.67338, + "euclidean_distance": 22.40728, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.26078, + 3.48633, + -2.87017 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:308XBLVESK7Y5FTCL5CPI3I6ST3RBY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -26.19164, + 4.11135, + 6.55948 + ], + "start_rotation": [ + 0, + 0.45616, + 0, + 0.8899 + ], + "object_category": "table", + "info": { + "geodesic_distance": 29.62163, + "euclidean_distance": 27.54149, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.35428, + 3.28633, + 6.03462 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "90dcb8a526504454b728d3f7951f153f", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "0_edge_185_newN_1", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "60434c00433b4438912eebe9bd2c6984", + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + [ + "60434c00433b4438912eebe9bd2c6984" + ], + "d8401d8f05d84422a3543e9a1e612d11", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9", + "241fde907a674d6ca8916fd2beec6dfc", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3JRJSWSMQJO4TGKUK6DJ1DLBPCC3EI", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.80845, + 0.1855, + 5.46075 + ], + "start_rotation": [ + 0, + 0.98711, + 0, + 0.16004 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.42151, + "euclidean_distance": 8.00069, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.32212, + -0.27665, + -2.35138 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "d9b3b2d4da2e421ab0bf916e8aef3512", + "path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "976a7a79035a4583a10624453174d94e", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3WEV0KO0OOV3LRR9EQ3033B2EKVSDW", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -17.63902, + 3.88633, + 6.55753 + ], + "start_rotation": [ + 0, + 0.79136, + 0, + 0.61135 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 22.05149, + "euclidean_distance": 19.69067, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.08522, + 3.28633, + 5.66527 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3JNQLM5FT6PTE4Y3XSMIVY63P0AL2G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.91723, + -0.31367, + -1.43687 + ], + "start_rotation": [ + 0, + 0.63795, + 0, + -0.77008 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.13883, + "euclidean_distance": 14.47031, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.10095, + -0.31367, + -5.28028 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "7bb74d11234146b19b211e4b1c319cbf", + "path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_135_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10" + ], + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3SB5N7Y3O576W2HO7ELOZI8GZGL0GF", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.64632, + 3.88633, + 3.64864 + ], + "start_rotation": [ + 0, + 0.98093, + 0, + -0.19438 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 17.70338, + "euclidean_distance": 15.88074, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.08657, + 3.28633, + 5.98885 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3KOPY89HMA5C4W6MY7OAYTY3E8PJ3W", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.57813, + -0.07011, + -1.95699 + ], + "start_rotation": [ + 0, + 0.1243, + 0, + -0.99225 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 21.52607, + "euclidean_distance": 11.94423, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.62978, + 3.48633, + 8.07366 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "0_edge_135_newN_0", + "path": [ + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "0_edge_262_newN_0", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1" + ], + "0_edge_262_newN_0", + [ + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + [ + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + [ + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:32AT8R96GNCP2T2V0LTPD3FPK7OUSY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.87652, + 6.68633, + 2.07756 + ], + "start_rotation": [ + 0, + 0.36058, + 0, + 0.93273 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.34903, + "euclidean_distance": 7.55544, + "closest_goal_object_id": 487, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.09062, + 6.70142, + -1.08261 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "23529d8037d541ccbcccc986d779f269", + "path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_146_newN_0", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "refined_path": [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_146_newN_0", + [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269" + ], + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41", + [ + "0_edge_283_newN_1", + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ] + ] + }, + { + "episode_id": "A1S0N5BIXAQO8I:33JKGHPFYEX9985HJNLHNZOPMFONMM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -1.43249, + 3.31646, + 1.91251 + ], + "start_rotation": [ + 0, + 0.61582, + 0, + 0.78789 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 10.05467, + "euclidean_distance": 7.07687, + "closest_goal_object_id": 321, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.12397, + 3.28633, + 4.60699 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "139cf2b84c594863a0e437a5ff3caa6e", + "path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "90dcb8a526504454b728d3f7951f153f", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "0_edge_185_newN_0", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ], + "refined_path": [ + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "5a17727c63bb4c64bd10875f8d652009", + "eb2eb655963a4be08e11d984c87586bd", + [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2" + ], + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1" + ] + }, + { + "episode_id": "A39EZ7V9T25RZO:358UUM7WR16B33QM8O09D1WATUXR7Z", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 3.14447, + 7.28633, + 0.04689 + ], + "start_rotation": [ + 0, + 0.74721, + 0, + -0.66459 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.96687, + "euclidean_distance": 9.15538, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.13123, + 6.68633, + 8.55395 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "0_edge_282_newN_1", + "path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "2e532d8410fd4761b8166eedc0470347", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "0_edge_282_newN_1", + "0_edge_282_newN_0", + [ + "0_edge_282_newN_1" + ], + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + [ + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + [ + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + [ + "10e1ff604f364dedaa146d4f387399be" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef" + ], + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1" + ], + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "c66a3e6ef48143f5a86d202e62515386", + [ + "33bea45604484e13bdaf280b2e8de538" + ], + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:32M8BPYGAVPH3XY4B4AU5M8B4P3GI2", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -6.36507, + 3.48633, + 1.92094 + ], + "start_rotation": [ + 0, + 0.98656, + 0, + -0.16339 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.62881, + "euclidean_distance": 12.82536, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.32029, + 3.48633, + -10.06931 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3Z4AIRP3C8GHPDXWS7PS19RL7V21XK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.38177, + -0.31367, + -6.5783 + ], + "start_rotation": [ + 0, + 0.49439, + 0, + -0.86924 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.54159, + "euclidean_distance": 8.73477, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 4.47555, + -0.31367, + -14.38121 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "6aca4da5a7974141b5179106e1becd66", + "path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ], + "refined_path": [ + "6aca4da5a7974141b5179106e1becd66", + "634ddf341f6443118bea4195d06c6555", + [ + "6aca4da5a7974141b5179106e1becd66" + ], + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "78012bd258674d048a39788bdcec28ea", + "0_edge_54_newN_1", + [ + "78012bd258674d048a39788bdcec28ea", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4", + "d8401d8f05d84422a3543e9a1e612d11", + "60434c00433b4438912eebe9bd2c6984", + "241fde907a674d6ca8916fd2beec6dfc", + "eea0bea649b64f6a8ec8d2ba6eaa8ec9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3CN4LGXD5ZRNHHKPKLUWIL5XIKRY4G", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.15755, + 3.88633, + 2.48188 + ], + "start_rotation": [ + 0, + 0.84429, + 0, + 0.53589 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.21944, + "euclidean_distance": 7.63085, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.61884, + 3.28633, + 4.17785 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "5a17727c63bb4c64bd10875f8d652009", + "path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3XLBSAQ9Z6FK5UCDI5UMZ4Y81437ZE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 13.44596, + -0.30347, + 0.77364 + ], + "start_rotation": [ + 0, + 0.59621, + 0, + -0.80283 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.62687, + "euclidean_distance": 8.15523, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.24056, + -0.31367, + 4.45547 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "193d45e0b5d842e69acc5813e478f614", + "path": [ + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "b682278fff3c4478b2f6e2012e31fd18", + "0_edge_384_newN_0", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_359_newN_2", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_290_newN_0", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "0_edge_384_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + "2fa65a1236d3450098b17c1855224b9a", + "0_edge_359_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + [ + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "b682278fff3c4478b2f6e2012e31fd18", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "0_edge_384_newN_0", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330" + ], + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_86_newN_1", + "0_edge_86_newN_0", + "a83bd24881e7417b959c51f84eb6a059", + [ + "2fa65a1236d3450098b17c1855224b9a" + ], + "0_edge_359_newN_2", + [ + "2fa65a1236d3450098b17c1855224b9a", + "a83bd24881e7417b959c51f84eb6a059", + "0_edge_86_newN_0", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0a615b9369b74696b3babe84de5d7a8a", + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0_edge_359_newN_0", + [ + "fa7a37f6b9b44f7cac2d3e4cf0bea71a", + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614" + ], + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "1ce731acccb04ec0af8f7992ae21524f", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "d12a35cb161641318a92f9e5dd8915db", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909" + ], + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + "0_edge_441_newN_1", + [ + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3L4PIM1GQVJUINMNVXQ9QEG6U4KRYV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -15.17986, + 3.88633, + 4.39793 + ], + "start_rotation": [ + 0, + 0.33445, + 0, + 0.94241 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 19.48953, + "euclidean_distance": 17.47627, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.16107, + 3.43508, + 7.18398 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "31510efb685f479992bae9af8104a507", + "path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3MD9PLUKKKH98F40YCBBV1KZ2MDZNV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.04481, + -0.31367, + -10.39274 + ], + "start_rotation": [ + 0, + 0.94739, + 0, + 0.32009 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 10.69686, + "euclidean_distance": 9.72954, + "closest_goal_object_id": 196, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -6.98845, + -0.31367, + -6.78358 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "f1c591c0bc7b43b1896d6c65eaa1f561", + "path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ], + "refined_path": [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:37UQDCYH6ZY3WA73H85JEYLCDU47VN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.36591, + 3.88633, + 2.25001 + ], + "start_rotation": [ + 0, + 0.04138, + 0, + -0.99914 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 22.56986, + "euclidean_distance": 21.12363, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.23051, + 3.44311, + 7.34061 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:39LOEL67OU8NKFA373RJ93POXKD83Q", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.42705, + 3.414, + 9.44197 + ], + "start_rotation": [ + 0, + 0.29314, + 0, + 0.95607 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.99093, + "euclidean_distance": 4.51777, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.40838, + 3.28633, + 5.99911 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "81c89eb6368341109260f88eb14a527e", + "path": [ + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "90dcb8a526504454b728d3f7951f153f", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + [ + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3DY4FPOOA3RDETRIQM3PJFCDR76RVV", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.07182, + 3.28905, + 0.68577 + ], + "start_rotation": [ + 0, + 0.2117, + 0, + -0.97734 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.94343, + "euclidean_distance": 2.70449, + "closest_goal_object_id": 363, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -5.01458, + 3.48633, + 2.49419 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_plant", + "start_potision_viewpoint_id": "001d8a657cbd41e7bf5a538e5768b058", + "path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b" + ], + "refined_path": [ + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3T3IWE1XG8QYP08T8CEAD7EMJ1HQTR", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 0.34432, + -0.31367, + -3.30839 + ], + "start_rotation": [ + 0, + 0.98295, + 0, + 0.18388 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.99497, + "euclidean_distance": 3.7861, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 0.75501, + -0.31367, + 0.44859 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "0_edge_130_newN_1", + "path": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6" + ], + "refined_path": [ + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "0_edge_438_newN_1", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "0_edge_425_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6" + ] + }, + { + "episode_id": "A75XDPFNICR3T:33CKWXB73LN9ZCC3LE4L60NKZN711N", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.14463, + -0.31367, + -13.52138 + ], + "start_rotation": [ + 0, + 0.62951, + 0, + 0.77699 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 17.21945, + "euclidean_distance": 15.60144, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.22244, + -0.31367, + -5.28523 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "d359f126c7b6433c92afc8ee3f327f59", + "path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "0_edge_79_newN_0", + "f5d15314913f4453aca1219437398794", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3HVVDCPGTGV7Y2ZFZMV4QTHOK79TY4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.97264, + 3.48633, + -5.20508 + ], + "start_rotation": [ + 0, + 0.77908, + 0, + -0.62692 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.27922, + "euclidean_distance": 3.7801, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -4.00987, + 0.29045, + -3.54709 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "599f73b398ef4e738aae7f557c0b35c6", + "path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "1bd459f9e678429b95ffbda52efa657b", + "0_edge_185_newN_1", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4" + ], + "refined_path": [ + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + [ + "428bc90067994001952048f25dc4e57d" + ], + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6" + ], + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "1bd459f9e678429b95ffbda52efa657b", + [ + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_290_newN_1", + "454f883454684daf86530a34b6d007f4" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OE22WJIGKRDPDNI8H4KI30PLT9UQK", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.58315, + -0.31367, + -14.80486 + ], + "start_rotation": [ + 0, + 0.74349, + 0, + 0.66875 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 22.3143, + "euclidean_distance": 20.08165, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.13424, + -0.31367, + -5.32345 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "c9c13f12237a4cf49aa78007ffad5d29", + "path": [ + "c9c13f12237a4cf49aa78007ffad5d29", + "0_edge_380_newN_0", + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c9c13f12237a4cf49aa78007ffad5d29", + "0_edge_380_newN_0", + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "c9c13f12237a4cf49aa78007ffad5d29", + "0_edge_380_newN_0", + "0_edge_68_newN_1", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "b6a9f93f5e264750ad8159d4b93ac177", + "858ce8552a0a40b686b4de4bc9eec65c", + "d950474d24d1474ca4b85b927aa958e5", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + [ + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea" + ], + "0_edge_53_newN_0", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A5A14MTB35J23:39ZSFO5CAAZW3QJ5DRKBL2O37UTJUM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.2923, + 3.28633, + 5.78892 + ], + "start_rotation": [ + 0, + 0.99707, + 0, + -0.07648 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.14681, + "euclidean_distance": 2.02778, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.30716, + 3.28633, + 5.60447 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "08a9899f92e54a88b14ded82908ad7fa", + "path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A2R2YZTSME1K3F:3M0NZ3JDP315IQYUUCFP1KKDONE5ZX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.03514, + 6.68633, + -10.2188 + ], + "start_rotation": [ + 0, + 0.95842, + 0, + -0.28536 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 25.09867, + "euclidean_distance": 18.75853, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.1414, + 6.68633, + 8.45162 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "22cc9d0e399d4059a77fd3a9ba5ac049", + "path": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + [ + "c130d4a1cbb642c0b7fc079969f2d6fd" + ], + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3SEPORI8WP22OWABP8669V0Y014ZA4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -20.90415, + 3.88633, + 1.31485 + ], + "start_rotation": [ + 0, + 0.269, + 0, + 0.96314 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.13135, + "euclidean_distance": 19.11717, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.25788, + 3.48633, + -2.83375 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:34X6J5FLPV14BXCOWI06B1RDNSLJQY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 18.28633, + -0.91367, + 7.62841 + ], + "start_rotation": [ + 0, + 0.05651, + 0, + 0.9984 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 22.36064, + "euclidean_distance": 14.90957, + "closest_goal_object_id": 24, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 3.38097, + -0.31367, + 6.87649 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "0_edge_83_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_367_newN_2", + "0_edge_308_newN_0", + "789db63b2d704e95a468bf4e6332d8f9", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + "2541575c89e8441da0419900ff2388dd" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091", + [ + "32f8f90c0eb247758cb6cc576df52a46" + ], + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + [ + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "736a864f92174a1facfc05a0eb246091" + ], + "0_edge_53_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa" + ], + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "789db63b2d704e95a468bf4e6332d8f9", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0" + ], + "2541575c89e8441da0419900ff2388dd", + "5bfd5d29c4dd4acdbca4b86a3f0d9d63", + "7e8326b2742643919d565d01ff4cb501", + [ + "2541575c89e8441da0419900ff2388dd" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:33PPUNGG3A8UNDWSRJSS4LP9FINRZ6", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -11.45552, + 3.88633, + 3.3391 + ], + "start_rotation": [ + 0, + 0.99904, + 0, + -0.04385 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 23.20353, + "euclidean_distance": 19.19871, + "closest_goal_object_id": 386, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.88702, + 3.56716, + -10.22123 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sofa", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3Z9WI9EOZ1RM9OJ3VDDO32ZQC1WHKN", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -24.67562, + 4.29104, + 9.08467 + ], + "start_rotation": [ + 0, + 0.20458, + 0, + 0.97885 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 29.56707, + "euclidean_distance": 26.94052, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.08035, + 3.28633, + 5.68175 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + [ + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:33JKGHPFYEX9985HJNLHNZOQNJQMNY", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.95186, + 6.68633, + 4.39633 + ], + "start_rotation": [ + 0, + 0.07122, + 0, + 0.99746 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.69615, + "euclidean_distance": 4.30255, + "closest_goal_object_id": 500, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.73054, + 6.72681, + 2.21906 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bed", + "start_potision_viewpoint_id": "0_edge_42_newN_0", + "path": [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ], + "refined_path": [ + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + [ + "0_edge_42_newN_0" + ], + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + [ + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1" + ], + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3FK0YFF9P1J5708ZZ68ZKC1GGSMVVT", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.35623, + 6.68633, + -7.19828 + ], + "start_rotation": [ + 0, + 0.60469, + 0, + 0.79646 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 20.35589, + "euclidean_distance": 15.94723, + "closest_goal_object_id": 533, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.11417, + 6.68633, + 8.40145 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "998e746d154e4635904dbf9201ad133c", + "path": [ + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "2e532d8410fd4761b8166eedc0470347", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_365_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c", + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ], + "refined_path": [ + "998e746d154e4635904dbf9201ad133c", + "0_edge_314_newN_0", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + [ + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7feb5839b9dc4b0e94d160c5af69d7c2", + "0_edge_124_newN_2", + [ + "7feb5839b9dc4b0e94d160c5af69d7c2", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0", + "0_edge_314_newN_0", + "998e746d154e4635904dbf9201ad133c" + ], + "57180afbe3c341b18a9483752afb6f9a", + "c6957ec905d04ac8acab161452470981", + "0_edge_364_newN_0", + "1880ed0a5e3144739cd5fcaacf3b4dfd", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "890c5356b4da4a418e223fc9e366bf89", + [ + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef" + ], + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + [ + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "7f2859e1af57442ea602142e8fc3ebe0" + ], + "2e532d8410fd4761b8166eedc0470347", + [ + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "0a7c88b186e6416dad35dadc4154ce93", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a" + ], + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0" + ], + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "10e1ff604f364dedaa146d4f387399be", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3L2IS5HSFCLSMGAQSPC3E95KDEBNU4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -12.50825, + 3.88633, + 3.66917 + ], + "start_rotation": [ + 0, + 0.65546, + 0, + 0.75523 + ], + "object_category": "table", + "info": { + "geodesic_distance": 15.63847, + "euclidean_distance": 14.04934, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.30334, + 3.28633, + 6.06098 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_table", + "start_potision_viewpoint_id": "f7c349c52d7544ddb06ebaeb47ffaac9", + "path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ], + "refined_path": [ + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + [ + "139cf2b84c594863a0e437a5ff3caa6e" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VAR3R6G1R4C643PQ1BBX6NZQ3NO8X", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.17902, + 0.02098, + 1.48346 + ], + "start_rotation": [ + 0, + 0.59751, + 0, + -0.80186 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 15.27312, + "euclidean_distance": 10.24613, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.90996, + -0.30317, + -6.06846 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_238_newN_0", + "path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ], + "refined_path": [ + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + [ + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3QRYMNZ7F0KDM3V1SKMT9DJHE48NT7", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.89009, + 3.28633, + 5.22179 + ], + "start_rotation": [ + 0, + 0.96685, + 0, + 0.25533 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.61805, + "euclidean_distance": 2.01952, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.21113, + 3.45177, + 7.06979 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "5eb29212d43d436ca60e05d19215a0de", + "path": [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:308Q0PEVBAG2ONBWXY4KD5MPEU69II", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.7145, + 3.88633, + 5.05959 + ], + "start_rotation": [ + 0, + 0.97239, + 0, + 0.23337 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 26.36577, + "euclidean_distance": 22.45405, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.3633, + 3.48633, + -10.16558 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:32Q90QCQ1UOAPES15C5IIZ2CJDVEKC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -7.17837, + 3.51155, + 1.79397 + ], + "start_rotation": [ + 0, + 0.94773, + 0, + -0.31906 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.38022, + "euclidean_distance": 12.98934, + "closest_goal_object_id": 456, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.39368, + 3.48633, + -10.10778 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_counter", + "start_potision_viewpoint_id": "1bd459f9e678429b95ffbda52efa657b", + "path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "refined_path": [ + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3HUTX6F6VWQ1KP10AK2ANFAXNWXO23", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.07713, + 6.68633, + 7.57802 + ], + "start_rotation": [ + 0, + 0.24995, + 0, + 0.96826 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 9.31376, + "euclidean_distance": 6.18326, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.49633, + 6.70118, + 1.98077 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "33bea45604484e13bdaf280b2e8de538", + "path": [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41", + "0_edge_363_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_146_newN_0", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41", + "0_edge_363_newN_0", + "152355d224574b17b3be41aa6edf2b41", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + "40bd5db3c01e445d903b58f86beaf72a", + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "refined_path": [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + [ + "ee4d521f9b174894b7b595e1b56ee901" + ], + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + [ + "0_edge_282_newN_0" + ], + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41", + "0_edge_363_newN_0", + [ + "152355d224574b17b3be41aa6edf2b41", + "0_edge_283_newN_1", + "0_edge_282_newN_0" + ], + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "40bd5db3c01e445d903b58f86beaf72a", + "0_edge_365_newN_2", + [ + "40bd5db3c01e445d903b58f86beaf72a" + ], + "4ed0dc66de83415196cb59d120b71d55", + "9977d41540f44813becd1f319db571ef", + "ef22fd41921142d4a36d6354d2e10d23", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "9b0ea58d8244411592f46e0c560d8595", + "9f02cc693511409ea77d000606f10f1d", + "2e532d8410fd4761b8166eedc0470347", + "7f2859e1af57442ea602142e8fc3ebe0", + "22cc9d0e399d4059a77fd3a9ba5ac049", + [ + "7f2859e1af57442ea602142e8fc3ebe0", + "2e532d8410fd4761b8166eedc0470347", + "9f02cc693511409ea77d000606f10f1d", + "9b0ea58d8244411592f46e0c560d8595", + "700e564b1a6f4ae2a7a230639c9f2b7f", + "ef22fd41921142d4a36d6354d2e10d23", + "9977d41540f44813becd1f319db571ef", + "4ed0dc66de83415196cb59d120b71d55", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_280_newN_0", + "c130d4a1cbb642c0b7fc079969f2d6fd", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "b02ebc952fcf4ff0942c56b2b3251b44", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_126_newN_1", + [ + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0" + ], + "0_edge_146_newN_0", + [ + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386" + ], + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1", + [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53" + ] + ] + }, + { + "episode_id": "A5A14MTB35J23:3QUO65DNQWRA41A2T4CGTY5P6O3UOG", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.38813, + 3.88633, + 2.4563 + ], + "start_rotation": [ + 0, + 0.99546, + 0, + -0.09522 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.45975, + "euclidean_distance": 16.05579, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.33008, + 3.28633, + 5.62321 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "A28HB7240OFGEW:36NEMU28XHGZW2EVBOC4JI1HTBTMWX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.59085, + -0.31367, + -13.24885 + ], + "start_rotation": [ + 0, + 0.98458, + 0, + -0.17493 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 17.62498, + "euclidean_distance": 16.20783, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.91199, + -0.27533, + -6.11787 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_70_newN_0", + "path": [ + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b54868e8037048d08f1208b26e887005", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "d9b3b2d4da2e421ab0bf916e8aef3512", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_367_newN_2", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_83_newN_1", + [ + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_17_newN_0", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + [ + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "7d63015552ec4845b1fec9cb22b2aef6", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ], + "d9b3b2d4da2e421ab0bf916e8aef3512", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "b54868e8037048d08f1208b26e887005", + [ + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3P59JYT76NNHXH6861O9HPGKJH22TE", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -0.33386, + -0.26795, + -1.3778 + ], + "start_rotation": [ + 0, + 0.06314, + 0, + 0.998 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 13.14382, + "euclidean_distance": 9.52273, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.16495, + -0.31367, + -5.22069 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "cacc1a7ffed24a21a4ea14a6643d79bb", + "path": [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3U088ZLJVMW2TO7OMJP6LLU3CF7W09", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -28.63735, + 4.5534, + 8.93086 + ], + "start_rotation": [ + 0, + 0.83514, + 0, + 0.55004 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.72872, + "euclidean_distance": 27.3429, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.77122, + 3.28633, + 3.99303 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "f96eb45fe2fa4c38a7173a02cab9050a", + "path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "5395b0d960da4a10a3fa76ec47a060f5", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "refined_path": [ + "f96eb45fe2fa4c38a7173a02cab9050a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "f97419bd62f6462fbbf8fb8adc4dea29" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3M68NM076JASZ3CHPEVH7NWEEU06R4", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 2.05476, + -0.31367, + -0.56023 + ], + "start_rotation": [ + 0, + 0.87107, + 0, + 0.49117 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 15.46187, + "euclidean_distance": 12.04031, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.12634, + -0.31367, + -5.19743 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "bc28e77e30a94f76aee87ac07949ecc4", + "path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3OXV7EAXLGT0G1RFEOULPPTY5BS63V", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.79234, + 3.28633, + 1.75769 + ], + "start_rotation": [ + 0, + 0.51094, + 0, + 0.85962 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.67029, + "euclidean_distance": 9.93926, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.3033, + 3.28633, + 5.61745 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "cc6552274d7e482cbd3bf904d5754203", + "path": [ + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "90dcb8a526504454b728d3f7951f153f", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ], + "refined_path": [ + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "11df14e4d06c4d098f75eed3b847e3e3", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6" + ], + "90dcb8a526504454b728d3f7951f153f", + [ + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:39OWYR0EPMUXFXHE42QF9P2NRBCYF0", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -19.91034, + 3.88633, + 2.07075 + ], + "start_rotation": [ + 0, + 0.75394, + 0, + -0.65695 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 27.95911, + "euclidean_distance": 26.49016, + "closest_goal_object_id": 318, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.40471, + 3.28633, + 5.70453 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chair", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3PMBY0YE296BBKPW5O8Y22OU119C9U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -5.12418, + 3.48633, + -1.29236 + ], + "start_rotation": [ + 0, + 0.99816, + 0, + 0.06064 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 21.30897, + "euclidean_distance": 6.72166, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -9.04097, + -0.31367, + -5.14659 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_shower", + "start_potision_viewpoint_id": "0_edge_317_newN_0", + "path": [ + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0", + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ], + "refined_path": [ + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b", + [ + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "0674ebc36a2048828d0ce0dc80751886", + "428bc90067994001952048f25dc4e57d", + "4e3ca18a1d6848529e1e97e841b3faa9", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "70be058041854ca4bcfae120bfb3fba0", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "599f73b398ef4e738aae7f557c0b35c6", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_317_newN_0" + ], + "830bd3180a5f497d8631f6c8112792d6", + "3c8b0995c325481a85ad4648931e5fde", + "261b527d225d4fcf85f580f3b304ae36", + "80e307b885d1427e859c654eb2f74042", + "d3e8b8227bae4a98a88d307d56b02908", + "682b19fbab024b3ca81f62cd4d287ca7", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:31N2WW6R9TTWZUKQFHXPJV6BL1BF3S", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 8.66822, + -0.31367, + -2.04521 + ], + "start_rotation": [ + 0, + 0.56781, + 0, + -0.82316 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.83113, + "euclidean_distance": 11.63277, + "closest_goal_object_id": 416, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.18496, + 3.48633, + -2.99937 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_bathtub", + "start_potision_viewpoint_id": "ce55b83aa694421a89a9866dc7c6b7b6", + "path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "a9842ed3d2064064a0c6a8c661916237", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "cacc1a7ffed24a21a4ea14a6643d79bb", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0" + ], + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3EG49X351WFCWZYTYD19W5I2CCOX6T", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.93321, + -0.17648, + 8.87674 + ], + "start_rotation": [ + 0, + 0.992, + 0, + -0.12623 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.70911, + "euclidean_distance": 4.09057, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.91947, + -0.31367, + 5.37469 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "9c87bfbb759549478b4159a471d78826", + "path": [ + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "10_edge_229_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "10_edge_229_newN_0", + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ], + "refined_path": [ + "9c87bfbb759549478b4159a471d78826", + "0_edge_75_newN_1", + "0_edge_425_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_278_newN_0", + "0_edge_341_newN_0", + [ + "0_edge_278_newN_0" + ], + "10_edge_229_newN_0", + [ + "0_edge_278_newN_0" + ], + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "1e87a0b7776d48c7a05569b182f8c3a4", + "d12a35cb161641318a92f9e5dd8915db", + "ce55b83aa694421a89a9866dc7c6b7b6", + "bb06442335d542cbb733939a78fcff36", + "b1ce0ca7853d4889ad9313a89b8150ac", + "193d45e0b5d842e69acc5813e478f614", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + [ + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "2fa65a1236d3450098b17c1855224b9a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "131ddd8afe144bf9a0d22bdc435f117d", + "0_edge_122_newN_1", + "131ddd8afe144bf9a0d22bdc435f117d", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "7d63015552ec4845b1fec9cb22b2aef6", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "0_edge_17_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0" + ], + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "b54868e8037048d08f1208b26e887005" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3L2IS5HSFCLSMGAQSPC3E95KDFOUNQ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.48029, + 6.68633, + -0.28877 + ], + "start_rotation": [ + 0, + 0.973, + 0, + 0.23079 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 11.47944, + "euclidean_distance": 7.44794, + "closest_goal_object_id": 497, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 5.05844, + 6.72911, + -0.7988 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0_edge_126_newN_1", + "path": [ + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "0_edge_282_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1", + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901", + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + "152355d224574b17b3be41aa6edf2b41" + ], + "refined_path": [ + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + [ + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be" + ], + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1", + [ + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269" + ], + "d547331b610244018371be43294f36c1", + "0_edge_42_newN_0", + "8a114fb97390409e9f438a77f8fe913f", + "ee4d521f9b174894b7b595e1b56ee901", + "c66a3e6ef48143f5a86d202e62515386", + "e34627d6e1e740b88b2fcb25d08e4029", + "0_edge_258_newN_1", + [ + "e34627d6e1e740b88b2fcb25d08e4029", + "c66a3e6ef48143f5a86d202e62515386", + "ee4d521f9b174894b7b595e1b56ee901" + ], + "33bea45604484e13bdaf280b2e8de538", + "36851a5222e54eb288084a0f3e55340e", + [ + "33bea45604484e13bdaf280b2e8de538", + "ee4d521f9b174894b7b595e1b56ee901", + "8a114fb97390409e9f438a77f8fe913f", + "0_edge_42_newN_0", + "d547331b610244018371be43294f36c1", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + [ + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9" + ], + "0_edge_128_newN_1", + [ + "d63f17ffd240402899fc90e069e20da0" + ], + "28472c433dc74f21aca3fa4722bb1666", + "a212fb837e1b4a4eaf164fe09896d61d", + [ + "28472c433dc74f21aca3fa4722bb1666", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_128_newN_1", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_146_newN_0", + "d63f17ffd240402899fc90e069e20da0", + "0_edge_126_newN_1", + "72f2dbee67884e7d9bd70158fe8e66c9", + "b02ebc952fcf4ff0942c56b2b3251b44", + "23529d8037d541ccbcccc986d779f269", + "479c8982b70a4ae5be3dcf5148b4c739", + "2142035ff0ff419f81fed8875fccf577", + "a96b308a64c147fabbfbbf4916afb091", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_207_newN_1", + "f2e70fe81e7241139c7483b3d09cdc2f", + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "0_edge_282_newN_1", + [ + "0_edge_282_newN_0", + "0_edge_365_newN_0", + "0_edge_282_newN_0", + "0_edge_283_newN_1" + ], + "152355d224574b17b3be41aa6edf2b41" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IKZ72A5B6J33YD0X0H4S94GPD4FNX", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 4.86574, + -0.31367, + 1.80825 + ], + "start_rotation": [ + 0, + 0.39241, + 0, + -0.91979 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.74742, + "euclidean_distance": 7.73391, + "closest_goal_object_id": 266, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -2.77942, + 0.16155, + 0.89682 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_stool", + "start_potision_viewpoint_id": "0_edge_290_newN_0", + "path": [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0" + ], + "refined_path": [ + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:33L7PJKHCI1SJW8XMIXARGTN895T86", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 7.18597, + -0.29429, + 5.98174 + ], + "start_rotation": [ + 0, + 0.37834, + 0, + -0.92567 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 24.149, + "euclidean_distance": 20.22924, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.90085, + -0.28399, + -6.10168 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_341_newN_0", + "path": [ + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "5eb29212d43d436ca60e05d19215a0de" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "09c10c580a0e4b4cb4f6f9445c4509e0", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_341_newN_0", + "0_edge_278_newN_0", + "60ddff235ac44416b783febc3fa613b6", + "0_edge_425_newN_0", + "0_edge_425_newN_1", + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03" + ], + "09c10c580a0e4b4cb4f6f9445c4509e0", + [ + "bc497ec23cba4e7b9630cf20f5a73b03", + "0_edge_438_newN_0" + ], + "0_edge_438_newN_1", + "ce55b83aa694421a89a9866dc7c6b7b6", + "d12a35cb161641318a92f9e5dd8915db", + "1e87a0b7776d48c7a05569b182f8c3a4", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "68f1cface63843b6b3d72072a4a11fa8", + "0_edge_192_newN_0", + [ + "68f1cface63843b6b3d72072a4a11fa8" + ], + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3B2X28YI3YI5JWVSTH9R78RATARB6R", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.17103, + -0.31367, + 5.5233 + ], + "start_rotation": [ + 0, + 0.99652, + 0, + 0.08332 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 22.98563, + "euclidean_distance": 19.144, + "closest_goal_object_id": 207, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -8.90047, + -0.26679, + -6.13209 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_278_newN_0", + "path": [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "100294ee82214ab39ad802149f4f1909", + "bdc130b620914d8aa178fd0e21f27c10", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "0_edge_278_newN_0", + "d8401d8f05d84422a3543e9a1e612d11", + "454f883454684daf86530a34b6d007f4", + "0_edge_290_newN_1", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0", + [ + "100294ee82214ab39ad802149f4f1909" + ], + "bdc130b620914d8aa178fd0e21f27c10", + [ + "100294ee82214ab39ad802149f4f1909", + "0_edge_249_newN_0" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PH3VY7DJN0ZV9DEQD2YRKXQ87PWZM", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.36752, + 6.88633, + 1.34581 + ], + "start_rotation": [ + 0, + 0.86927, + 0, + 0.49433 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.73557, + "euclidean_distance": 7.09217, + "closest_goal_object_id": 554, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.68214, + 6.68633, + 2.2488 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "10e1ff604f364dedaa146d4f387399be", + "path": [ + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "refined_path": [ + "10e1ff604f364dedaa146d4f387399be", + "f2e70fe81e7241139c7483b3d09cdc2f", + "0_edge_207_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3RWE2M8QWJDC6UYAUIYJP2HD0SU0NA", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 20.65444, + -0.79712, + 5.54038 + ], + "start_rotation": [ + 0, + 0.94781, + 0, + -0.31885 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 17.44627, + "euclidean_distance": 14.54512, + "closest_goal_object_id": 86, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 6.12013, + -0.31367, + 4.54033 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_seating", + "start_potision_viewpoint_id": "0a615b9369b74696b3babe84de5d7a8a", + "path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "0_edge_88_newN_2", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "0_edge_289_newN_0", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_59_newN_1", + "f5d15314913f4453aca1219437398794", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_88_newN_2", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + "b47347c7d04e40d084f4f3715e166330", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + "7bb74d11234146b19b211e4b1c319cbf", + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_289_newN_0", + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + "634ddf341f6443118bea4195d06c6555", + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + "78012bd258674d048a39788bdcec28ea", + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_59_newN_1", + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094", + "f5d15314913f4453aca1219437398794", + "f1c591c0bc7b43b1896d6c65eaa1f561", + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0" + ], + "refined_path": [ + "0a615b9369b74696b3babe84de5d7a8a", + "1f90c24e3d5a4bf798b9409b0e9d423f", + "0_edge_86_newN_1", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "0_edge_88_newN_2", + [ + "1f90c24e3d5a4bf798b9409b0e9d423f" + ], + "2fa65a1236d3450098b17c1855224b9a", + "b47347c7d04e40d084f4f3715e166330", + "0_edge_122_newN_0", + [ + "b47347c7d04e40d084f4f3715e166330" + ], + "c1601686ff1d4d6aa7b01a1cb4bc7e00", + "b682278fff3c4478b2f6e2012e31fd18", + [ + "c1601686ff1d4d6aa7b01a1cb4bc7e00" + ], + "193d45e0b5d842e69acc5813e478f614", + "b1ce0ca7853d4889ad9313a89b8150ac", + "bb06442335d542cbb733939a78fcff36", + "ce55b83aa694421a89a9866dc7c6b7b6", + "fd22cb9d82364bbdb6ea4fdb051a7721", + "7bb74d11234146b19b211e4b1c319cbf", + "bdc130b620914d8aa178fd0e21f27c10", + [ + "7bb74d11234146b19b211e4b1c319cbf" + ], + "fb7e82f5b99340eabb9a579772176b33", + "100294ee82214ab39ad802149f4f1909", + "72c76f63e9124253b87ef7fe0b85ef85", + "0_edge_290_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85" + ], + "0_edge_289_newN_0", + [ + "72c76f63e9124253b87ef7fe0b85ef85", + "100294ee82214ab39ad802149f4f1909", + "fb7e82f5b99340eabb9a579772176b33", + "7bb74d11234146b19b211e4b1c319cbf", + "fd22cb9d82364bbdb6ea4fdb051a7721" + ], + "1ce731acccb04ec0af8f7992ae21524f", + "634ddf341f6443118bea4195d06c6555", + "0_edge_101_newN_0", + [ + "634ddf341f6443118bea4195d06c6555" + ], + "6aca4da5a7974141b5179106e1becd66", + "6fb42054fdfb4b6bbf3831589a8c56e5", + "0_edge_99_newN_0", + [ + "6fb42054fdfb4b6bbf3831589a8c56e5" + ], + "78012bd258674d048a39788bdcec28ea", + "0a3c3886d45044949211b0d0f243b720", + [ + "78012bd258674d048a39788bdcec28ea" + ], + "fdd61ffd5d834bf3878fabc9ebca4094", + "0_edge_59_newN_2", + [ + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "d9c135bdc3bf4abdb06c89c8722ac2a1", + "d950474d24d1474ca4b85b927aa958e5", + "858ce8552a0a40b686b4de4bc9eec65c", + "b6a9f93f5e264750ad8159d4b93ac177", + "b9dbbef4ae9a4646ba247cf476b1baeb", + "0_edge_70_newN_0", + "7c2ba622b1ae4a68a8dc97c69030da06", + "41fa201781b6448db96e6a4d4f96041e", + "d359f126c7b6433c92afc8ee3f327f59", + "789db63b2d704e95a468bf4e6332d8f9", + "0d600d9a62be462ca3aa8e9c77d07d5a", + "0_edge_308_newN_0", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "f1c591c0bc7b43b1896d6c65eaa1f561", + [ + "0d600d9a62be462ca3aa8e9c77d07d5a" + ], + "0_edge_59_newN_1", + [ + "0_edge_59_newN_2", + "fdd61ffd5d834bf3878fabc9ebca4094" + ], + "f5d15314913f4453aca1219437398794", + [ + "f1c591c0bc7b43b1896d6c65eaa1f561" + ], + "0_edge_79_newN_0", + "a0538fdc778f4a90ba3b0ef0f40d5caa", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3H7Z272LX9AP6BZ9ZQXURBEW0E4PLH", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -9.47296, + 3.88633, + 2.50049 + ], + "start_rotation": [ + 0, + 0.99459, + 0, + 0.10392 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.69699, + "euclidean_distance": 13.46747, + "closest_goal_object_id": 343, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.65329, + 3.48633, + 8.02939 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_towel", + "start_potision_viewpoint_id": "eb2eb655963a4be08e11d984c87586bd", + "path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3YDGXNSEO1X82BT77HW2J8HVPIG84U", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 1.43158, + -0.31367, + -2.98323 + ], + "start_rotation": [ + 0, + 0.97773, + 0, + 0.20986 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.53743, + "euclidean_distance": 5.12463, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.80284, + 3.48633, + -5.78477 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "0_edge_130_newN_0", + "path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "0_edge_450_newN_0", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "0_edge_415_newN_0", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "ee34e33014c94bf79cda5892e2ec6b24", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + "6811d52593b740cb9047202ce1e8a1e4", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "21dca84e46e74021858b7343d8200182", + "32f8f90c0eb247758cb6cc576df52a46", + "c51baa7dc99849c4934d01a94a268c23", + "92b354c34ef04db58d7df4a754253ac4", + "6811d52593b740cb9047202ce1e8a1e4", + "8a12480e7006496ca01c288e8b90e471", + [ + "6811d52593b740cb9047202ce1e8a1e4" + ], + "3ca0a0e34b9046d58a1c3fe2543576e0", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "b59ade97c6674c23ba6c98612611bfe9", + "0_edge_262_newN_1", + "af61ae476e8c4c6e9ee79090fd72f1c9", + [ + "0_edge_262_newN_1", + "b59ade97c6674c23ba6c98612611bfe9", + "5d3c26d4a0434ec38d2efce5dbf2c5b3", + "3ca0a0e34b9046d58a1c3fe2543576e0", + "6811d52593b740cb9047202ce1e8a1e4", + "92b354c34ef04db58d7df4a754253ac4", + "c51baa7dc99849c4934d01a94a268c23", + "32f8f90c0eb247758cb6cc576df52a46", + "21dca84e46e74021858b7343d8200182", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29" + ], + "976a7a79035a4583a10624453174d94e", + "b31ae8536d72434ea33243b17fc0dee0", + "0_edge_238_newN_0", + [ + "b31ae8536d72434ea33243b17fc0dee0", + "976a7a79035a4583a10624453174d94e" + ], + "0_edge_450_newN_0", + [ + "976a7a79035a4583a10624453174d94e" + ], + "b54868e8037048d08f1208b26e887005", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "0_edge_415_newN_0", + [ + "42500d43b2454445a68e90f16aa5ca15" + ], + "e5fc4a655a7a451eaec61f1dcaf902de", + "3ae10635160248a58e2197541e621ddb", + "dbef8aac0198493597e8e5aec0de17cb", + "49c0ba2bd97644ee880ca3cc0d5a9dc8", + [ + "dbef8aac0198493597e8e5aec0de17cb", + "3ae10635160248a58e2197541e621ddb", + "e5fc4a655a7a451eaec61f1dcaf902de", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_415_newN_0", + "42500d43b2454445a68e90f16aa5ca15", + "0_edge_450_newN_1", + "42500d43b2454445a68e90f16aa5ca15", + "b54868e8037048d08f1208b26e887005", + "976a7a79035a4583a10624453174d94e", + "0_edge_450_newN_0", + "976a7a79035a4583a10624453174d94e" + ], + "ee34e33014c94bf79cda5892e2ec6b24", + [ + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + [ + "cc6552274d7e482cbd3bf904d5754203" + ], + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "139cf2b84c594863a0e437a5ff3caa6e", + "001d8a657cbd41e7bf5a538e5768b058" + ], + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "c2f4ac1cd281454d80acbc4d79c12aef", + [ + "3c4a8eb4ef504942b6df1937932aa3f2" + ], + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + [ + "428bc90067994001952048f25dc4e57d", + "3c4a8eb4ef504942b6df1937932aa3f2", + "6b3e8eaf98a14207b9ec30d4105938ce", + "45eac43ea9054cbbaa91863a5aa202fa", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "428bc90067994001952048f25dc4e57d", + "854eec676352475f90d1fb18677f9a8b" + ], + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3S06PH7KST73R7SF17OG72OSAUI1DP", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 5.13084, + 6.88633, + 1.02229 + ], + "start_rotation": [ + 0, + 0.41324, + 0, + 0.91062 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.70957, + "euclidean_distance": 6.90186, + "closest_goal_object_id": 554, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -1.62827, + 6.68633, + 2.28345 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_picture", + "start_potision_viewpoint_id": "10e1ff604f364dedaa146d4f387399be", + "path": [ + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + "c709e0508ab94b139f42d19e7f0dcb53", + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ], + "refined_path": [ + "10e1ff604f364dedaa146d4f387399be", + "c709e0508ab94b139f42d19e7f0dcb53", + "0_edge_282_newN_1", + [ + "c709e0508ab94b139f42d19e7f0dcb53" + ], + "a96b308a64c147fabbfbbf4916afb091", + "2142035ff0ff419f81fed8875fccf577", + "479c8982b70a4ae5be3dcf5148b4c739", + "23529d8037d541ccbcccc986d779f269", + "b02ebc952fcf4ff0942c56b2b3251b44" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3O6CYIULEF4I9AJ4KQ3QASIB9TAWU8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + 6.09501, + 3.28633, + 5.05993 + ], + "start_rotation": [ + 0, + 0.18415, + 0, + -0.9829 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.73871, + "euclidean_distance": 4.32426, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.23181, + 3.44858, + 7.23286 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_sink", + "start_potision_viewpoint_id": "d6dcdf564f1d4ea28ce865b11ceea05a", + "path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ], + "refined_path": [ + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e" + ] + }, + { + "episode_id": "A1K581IY10MNC0:3UNH76FOCU83L79VQPUS4FMX7FYYM8", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -3.35841, + 0.32595, + -2.98748 + ], + "start_rotation": [ + 0, + 0.75979, + 0, + -0.65017 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.85936, + "euclidean_distance": 2.63413, + "closest_goal_object_id": 112, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.90859, + -0.31367, + -2.6488 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cabinet", + "start_potision_viewpoint_id": "b86b79b6a66546e58155579ef00b1e7d", + "path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "0_edge_130_newN_1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_130_newN_1" + ], + "refined_path": [ + "b86b79b6a66546e58155579ef00b1e7d", + "976a7a79035a4583a10624453174d94e", + [ + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "5395b0d960da4a10a3fa76ec47a060f5", + [ + "cacc1a7ffed24a21a4ea14a6643d79bb" + ], + "0_edge_130_newN_1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3ATPCQ38JAD2J606TM4NVORXDZ6AYZ", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -18.71826, + 3.88633, + 2.64387 + ], + "start_rotation": [ + 0, + 0.62822, + 0, + 0.77804 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 22.39505, + "euclidean_distance": 20.95457, + "closest_goal_object_id": 323, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 1.95887, + 3.28633, + 5.62263 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f48b2bf8bcc64c3ca36d4190669f333a", + "path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + "f48b2bf8bcc64c3ca36d4190669f333a", + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + "e908015113524e25a0fe06c0f88d6bb2", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de" + ], + "refined_path": [ + "f48b2bf8bcc64c3ca36d4190669f333a", + "73a961a9e612400b9f30493cb9375f81", + [ + "f48b2bf8bcc64c3ca36d4190669f333a" + ], + "31510efb685f479992bae9af8104a507", + "78851de517464ff6aaced75d7850b5a8", + "f7c349c52d7544ddb06ebaeb47ffaac9", + "eb2eb655963a4be08e11d984c87586bd", + "5a17727c63bb4c64bd10875f8d652009", + "1bd459f9e678429b95ffbda52efa657b", + "e908015113524e25a0fe06c0f88d6bb2", + "0_edge_185_newN_0", + [ + "e908015113524e25a0fe06c0f88d6bb2" + ], + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "81c89eb6368341109260f88eb14a527e", + [ + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7" + ], + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + [ + "5eb29212d43d436ca60e05d19215a0de" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3QJOXOW4XLU5F2S4QOIYXCUG6CRMEC", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.49779, + 0.07028, + -1.11137 + ], + "start_rotation": [ + 0, + 0.91728, + 0, + -0.39824 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 26.34262, + "euclidean_distance": 6.17337, + "closest_goal_object_id": 426, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + -0.28012, + 3.48633, + -5.80677 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_toilet", + "start_potision_viewpoint_id": "976a7a79035a4583a10624453174d94e", + "path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d", + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0", + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ], + "refined_path": [ + "976a7a79035a4583a10624453174d94e", + "b86b79b6a66546e58155579ef00b1e7d", + "f97419bd62f6462fbbf8fb8adc4dea29", + "3b67353ba5e64feeb33884037fa14ce6", + "b0ed9edb0520444da200f5f5c1f92e4c", + "446fe55778194ebd962d419067cede1a", + [ + "b0ed9edb0520444da200f5f5c1f92e4c", + "3b67353ba5e64feeb33884037fa14ce6", + "f97419bd62f6462fbbf8fb8adc4dea29", + "b86b79b6a66546e58155579ef00b1e7d" + ], + "0_edge_135_newN_0", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + [ + "ee34e33014c94bf79cda5892e2ec6b24" + ], + "bc28e77e30a94f76aee87ac07949ecc4", + "bdc130b620914d8aa178fd0e21f27c10", + "0_edge_133_newN_0", + [ + "bdc130b620914d8aa178fd0e21f27c10", + "bc28e77e30a94f76aee87ac07949ecc4", + "ee34e33014c94bf79cda5892e2ec6b24", + "0_edge_133_newN_1", + "ee34e33014c94bf79cda5892e2ec6b24", + "976a7a79035a4583a10624453174d94e", + "cacc1a7ffed24a21a4ea14a6643d79bb", + "0_edge_135_newN_0" + ], + "682b19fbab024b3ca81f62cd4d287ca7", + "d3e8b8227bae4a98a88d307d56b02908", + "80e307b885d1427e859c654eb2f74042", + "261b527d225d4fcf85f580f3b304ae36", + "3c8b0995c325481a85ad4648931e5fde", + "830bd3180a5f497d8631f6c8112792d6", + "0_edge_317_newN_0", + "bacef43d28c74751a7bd62578d443053", + "a9842ed3d2064064a0c6a8c661916237", + [ + "bacef43d28c74751a7bd62578d443053" + ], + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "90dcb8a526504454b728d3f7951f153f", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d", + "0674ebc36a2048828d0ce0dc80751886", + "854eec676352475f90d1fb18677f9a8b", + "f71c7ed84bc34651a65dd51ba28cab4b" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:37U1UTWH9XPF3HV5ITSFR1S43XDR8V", + "scene_id": "mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb", + "start_position": [ + -2.1553, + 3.48633, + -2.34417 + ], + "start_rotation": [ + 0, + 0.19851, + 0, + 0.9801 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.70512, + "euclidean_distance": 8.65083, + "closest_goal_object_id": 404, + "navigation_bounds": [ + [ + -34.94684, + -1.11367, + -17.98732 + ], + [ + 23.34215, + 13.58731, + 16.60159 + ] + ], + "best_viewpoint_position": [ + 2.32676, + 3.64236, + -9.77966 + ] + }, + "goals": [], + "goals_key": "kEZ7cmS4wCh.glb_cushion", + "start_potision_viewpoint_id": "a9842ed3d2064064a0c6a8c661916237", + "path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "16897e2c8dbd48c3a44997dad1c3801f", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + "001d8a657cbd41e7bf5a538e5768b058", + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7", + "16897e2c8dbd48c3a44997dad1c3801f", + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237", + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ], + "refined_path": [ + "a9842ed3d2064064a0c6a8c661916237", + "001d8a657cbd41e7bf5a538e5768b058", + "0_edge_185_newN_1", + [ + "001d8a657cbd41e7bf5a538e5768b058" + ], + "139cf2b84c594863a0e437a5ff3caa6e", + "cc6552274d7e482cbd3bf904d5754203", + "c66e1c0bbb6a4418bd97da9967ec435d", + "5f04c594ab574a4b9f4535abdfab07e0", + "4edc8197749e4379b34c663f9e370a80", + "318bfec461484262a597cc8fedffecb7", + "5eb29212d43d436ca60e05d19215a0de", + "08a9899f92e54a88b14ded82908ad7fa", + "d6dcdf564f1d4ea28ce865b11ceea05a", + [ + "08a9899f92e54a88b14ded82908ad7fa", + "5eb29212d43d436ca60e05d19215a0de", + "318bfec461484262a597cc8fedffecb7" + ], + "16897e2c8dbd48c3a44997dad1c3801f", + [ + "318bfec461484262a597cc8fedffecb7", + "4edc8197749e4379b34c663f9e370a80", + "5f04c594ab574a4b9f4535abdfab07e0", + "c66e1c0bbb6a4418bd97da9967ec435d", + "cc6552274d7e482cbd3bf904d5754203", + "001d8a657cbd41e7bf5a538e5768b058", + "a9842ed3d2064064a0c6a8c661916237" + ], + "bacef43d28c74751a7bd62578d443053", + "0_edge_177_newN_0", + "599f73b398ef4e738aae7f557c0b35c6", + "33a824661ad34d9391d80d87485b5356", + "45eac43ea9054cbbaa91863a5aa202fa", + "70be058041854ca4bcfae120bfb3fba0", + "6b3e8eaf98a14207b9ec30d4105938ce", + "3c4a8eb4ef504942b6df1937932aa3f2", + "4e3ca18a1d6848529e1e97e841b3faa9", + "428bc90067994001952048f25dc4e57d" + ] + } +] \ No newline at end of file